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    Does Unity Pro have a cascade PID function block?

    Yes. There are two cascade control loop function blocks. The function blocks are PIP and PPI. The PIP consist of a PI(Proportional Integral)-master controller and a P(Proportional)-sub controller. The PPI consist of a  P(Proportional)-master controller and a PI(Proportional Integral)-sub controller.

    The transfer function is as follow:
    Master controller (PI- controller) --->   G(s) = gain2 x { 1 + 1/(ti x s) }
    Sub controller (P- controller) --->        G(s) = gain1

    Master controller (P-controller) --->   G(s) = gain1
    Sub controller (PI- controller) --->     G(s) = gain2 x { 1 + 1/(ti x s) }

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