Parisa, There is nothing device specific in the DCL. The relevant controller is the PI_A1 - a series PI controller implemented as a C callable assembly function. It will run on any C28x device and is your fastest, most efficient way to implement PI control. PI(D) control is straightforward in principle, but there are subtleties which can make a lot of difference. Your equation will implement a crude parallel form PI controller, but it will not perform well if the loop saturates, for example. Take a look at the C coded PI controllers in the DCL, such as PI_C3. The code is in "DCLF32.h" and you can use it a starting point for your own code by converting it over to use IQmath. I hope this helps. Regards, Richard
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