kp=5
ki=5
kd=5
esum=0
ealt=0
e=0
t=0.5
ta=0.5

*DO,t,0,5,0.5
 cmsel,s,sensorunterseite,node
 *get,s_minimal,node,,num,min
 *get,vs,cp,2,21
 e=0-vs
 esum=esum+e
 va=kp*e+Ki*Ta*esum+Kd*(e-ealt)/Ta
 ealt=e
 cmsel,s,aktoroberseite,node
 d,all,volt,va
 time,t
 nsubst,2
 KBC,0
 AUTOs,on
 solve
*enddo