timestep voltage omega last_time timestep 1e-7 voltage 0 omega 0 last_time 0 0 33 113675 0.002322 0 s Interval set to 0 for non real time PID computation. 30 0 0 50 Min: 0 Volts Max: 30 Volts Enable to see the difference when considering real life limits! WHILE Compute until 0.001 seconds (not realtime). LT 0 _last_time 0.001 omega 0 0.52 0.000036 0.00001 0.000012 0.0137 0.01 voltage timestep 0.3 voltage 0 omega timestep GT Print every 50 time steps. MINUS 1 0 _last_time 1 last_time MULTIPLY 50 1 timestep dc-simu1 ticks_ms 0 _last_time 0 setpoint voltage omega last_time 0 _last_time Jorge Marques 0 Non real time simulation of DC Motor with PID controller.