Hello, Yes you can set the p roportional part to zero, and it'll still retain the feedback & saturation during open loop. Altneratively, you can use Direct Form compensators, such as DF22 (Direct Form 2 2nd order, or 2poles and 2zeros). Which is typically used to shape the open loop frequency response. But yes, as for Kr, c1 and c2. Refer to the default variable for these parameters. I believe they're 1, 1, 0 respectively. Best, Sen Wang
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