MUGL Page 20 of 38rev. 18 November 200910.2 Control system descriptionThe control system is based on two PID loops in sequence, named “Inner loop and Outerloop”.The inner loop is the fastest and will adjust the current in the load. It takes as input thereference of the outer loopThe outer loop regulates the output voltage, reacts more slowly and it provides the valueof current to the inner loop. It takes as input the main reference and the feedback comesfrom the output voltage of the converter.Outer loopOutput voltage+-REF (frompotentiometer orfrom input)REF1 to innerloop㔅 ᡗᡰᡰ ᒙ ᡖᡲᡆᡡᡖᠧᡖᡲ ᒙ ᡆᡖᡗᡰᡰ ᒙ ᠷᡨᒙ 1ᒙ ᠷᡨᒙ 1ᒙ ᠷᡨ+++Derivative limitationIntegral limitation