sbhs_controller sbhs_controller controller import gnuradio.sbhs.gr_controller as gr_controller gr_controller.sbhs_controller() self.$(id).set_parameters($P, $I, $d, $a, $b, $window) IO Type type enum Num Inputs num_inputs 1 int Vec Length vlen 1 int Delta T a 1 real P Value P 1 real I Value I 1 real D Value d 1 real Set Point b 1 real Window window 1 int $num_inputs > 0 $vlen > 0 in $(str($type).split('_')[0]) $vlen $num_inputs out $(str($type).split('_')[1]) $vlen SBHS Controller Block > SBHS Controller Block to implement P I D Algorithms