Collaboration diagram for Virtual current in direction:

The virtual current is a manipulable current field. Error signals are used to change the magnitude and direction of the current at various depths. The adaptation is using a PID controller with integral saturation for each error signal. The sim object

Input ports

Name	Width	Description
PlanarError_L1 .. PlanarError_L<N>	2	Error signal to use in adaptation. One for each depth layer, in total N.

Output ports

Name	Width	Description
PlanarCurrent_L1 .. PlanarCurrent_L<N>	2	Estimated current at specified DepthLayersThicknesses.

Configuration parameters

Name	Width	Description
ProportionalGain	1	\(P_p (p_d - p_e)\).
IntegralGain	1	\(P_i\int_0^t (p_d - p_e)\).
IntegralSaturation	1	\(abs(\max(\int_0^t (p_d - p_e))) = sat\).
DerivativeGain	1	\(P_d (\dot{e})\).
DerivativeTimeConstant	1	Time contant of the dynamics of error derivative.
DepthLayerThickness	N	Array of depths at which the virtual inputs will manipulate the current. Between these points, linear interpolation is used (and below/above boundary depths: the closest one).

This SimObject is referred to as Artificial/VirtualCurrentInDir