Continuous-time or discrete-time PID controller - Simulink Description. Implement a continuous- or discrete-time controller (PID, PI, PD, P, or I) in your Simulink ® model. PID controller gains are tunable either manually or automatically. Automatic tuning requires Simulink Control Design™ software. The PID Controller block output is a Simulation of BLDC Motor Speed PI Control in Simulink Nov 18, 2015Simulation of BLDC Motor Speed PI Control in Simulink. Modeling The model consists of three blocks,PI controller block,Inverter block,and BLDC motor block. The BLDC motor block is shown below block takes voltage (Vab) and (Vbc) as input and calculate the current of each phase using equation (10)-..