Some of the controllers can be coupled with primary controllers (discussed above) as secondary controller.  The PID controller is one controller which can be used as both primary, as well as a secondary controller.

Use Case:

[MANEUVER_1]

TASK = 'STANDARD'

(CONTROLLERS)

{DRIVER_SIGNAL      PRIMARY_CONTROLLER          ADDITIONAL_CONTROLLER}

STEER              FEEDFORWARD_STEERING        NONE

THROTTLE           FEEDFORWARD_TRACTION        I_CONTROLLER

BRAKE              FEEDFORWARD_TRACTION        I_CONTROLLER

[I_CONTROLLER]

TAG = 'PID'

TYPE = 'FOLLOW_VELOCITY'

DEMAND_SIGNAL = 'DEMAND_SPEED'

I_ACTIVE_BAND = 3

KI    = 100