Circular integrator

The block is vectorized. It implements the mathematical model of the link, the dynamics of which is described by a linear ordinary differential equation (ODE) of the following form:

where x_i(t) is the i-th element of the block input signal, k_i is the element of the gain vector, y_i(t) is the element of the output signal from the block. Moreover, the output function y_i(t) takes a value in the range from 0 to 2Pi, describing the changing of the output value along a closed circle. Under zero initial conditions, the dynamics of the block can be represented by the following transfer function: therefore, there is an image of the transfer function of the ideal integrating link in the block icon.