DirServer    NoServer
ModulePath   /home/rz5b/controlWare/lib
Period       10
Delay        30

QoS delay
    CREATE ctrl AS PIController;
    CREATE cmp AS comparor;
    CREATE act AS dummyActuator;
    CREATE sensor AS dummySensor;

    CONNECT sensor[0] TO cmp.input[0]; 
    CONNECT cmp[0] TO ctrl.input[0];
    CONNECT ctrl[0] TO act.input[0];
QoS END

COMPONENT cmp 3  # set point is 3
COMPONENT ctrl 0.3, 1.1, 1, 0, -100, 100
 # ZERO = 0.3, GAIN = 1.1, initial output is 0, initial error is 0, 
 # output must be within the range [-100:100]