If you open the Controller block, you can have a look at the implementation (Ctrl+U) of the digital as well as the analog controller. The digital version is implemented using a C-Script block and the analog one uses gain blocks and a continuous time integrator. Both versions are implemented in the known parallel controller structure (as opposed to serial).

I would suggest you use the analog version if you don’t have experience in discrete time domain modelling. The PI-element can be expressed as a n inverted zero in the s-domain. R. W. Erickson has some good lecture notes on bode plots, google it.

G(s) = k_r * (1 + w_c / s)

When packing the Analog PI version of the controller into an equation, we get

G(s) = k_p + k_i / s.

Using coefficient comparison you, can determine the values for k_p and k_i:

k_r + k_r * w_c / s = k_p + k_i / s

->> k_p = k_r

->> k_i = k_r * w_c

For the digital version, there is more stuff involved.

Hope this helps.

Falk