Estimates the time derivative of an input.
Estimates the derivative (time-rate-of-change) of the input signal.
No block parameters are declared in the manifest.
This page describes the native runtime behavior observed in the module C++ sources. Declared phases indicate when the simulation engine calls the block.
Code generation: supported for C and Rust.
Manifestmodules/nflow_blocks/libraries/continuous/library.json
{
"id": "builtin.continuous",
"title": "Continuous",
"version": "1.0.0",
"format": "nflow-2",
"metadata": {
"author": "Allan CORNET",
"created": "2026-03-21",
"tool": "Nelson nflow"
},
"comment": "Blocks for continuous-time systems",
"license": "LGPL-3.0",
"builtin": true,
"blocks": [
{
"type": "integrator",
"label": "Integrator",
"icon": "integrator.svg",
"phases": [
"INIT",
"OUTPUT",
"UPDATE"
],
"width": 80,
"height": 80,
"inputs": [
{
"x": 0,
"y": 40,
"side": "left"
}
],
"outputs": [
{
"x": 80,
"y": 40,
"side": "right"
}
],
"defaultParams": {
"InitialCondition": 0,
"ExternalReset": "none",
"InitialConditionSource": "internal",
"LowerSaturationLimit": "-inf",
"UpperSaturationLimit": "inf"
},
"render": {
"type": "math",
"useRectElement": true,
"bodyClass": "nf-block nf-integrator",
"mathGroupClass": "nf-integrator-formula",
"formula": "\\displaystyle\\int"
}
},
{
"type": "tf",
"label": "Transfer Fn",
"icon": "tf.svg",
"phases": [
"INIT",
"OUTPUT",
"ALGEBRAIC",
"UPDATE"
],
"width": 100,
"height": 80,
"inputs": [
{
"x": 0,
"y": 40,
"side": "left"
}
],
"outputs": [
{
"x": 100,
"y": 40,
"side": "right"
}
],
"defaultParams": {
"Numerator": [
1
],
"Denominator": [
1,
1
]
},
"render": {
"type": "math",
"bodyClass": "nf-block",
"mathGroupClass": "nf-tf-formula",
"formula": "\\frac{N(s)}{D(s)}"
}
},
{
"type": "delay",
"label": "Delay",
"icon": "delay.svg",
"phases": [
"INIT",
"OUTPUT",
"UPDATE"
],
"width": 80,
"height": 80,
"inputs": [
{
"x": 0,
"y": 40,
"side": "left"
}
],
"outputs": [
{
"x": 80,
"y": 40,
"side": "right"
}
],
"defaultParams": {
"DelayTime": 1
},
"render": {
"type": "math",
"bodyClass": "nf-block",
"mathGroupClass": "nf-delay-formula",
"formula": "e^{-\\tau s}"
}
},
{
"type": "stateSpace",
"label": "State-Space",
"icon": "stateSpace.svg",
"phases": [
"INIT",
"OUTPUT",
"UPDATE"
],
"width": 120,
"height": 80,
"inputs": [
{
"x": 0,
"y": 40,
"side": "left"
}
],
"outputs": [
{
"x": 120,
"y": 40,
"side": "right"
}
],
"defaultParams": {
"A": 1,
"B": 1,
"C": 1,
"D": 1,
"InitialCondition": 0
},
"render": {
"type": "math",
"bodyClass": "nf-block",
"mathGroupClass": "nf-state-space-formula",
"formula": "\\dot{x}=Ax+Bu",
"textSize": "16px"
}
},
{
"type": "lpf",
"label": "LPF",
"icon": "lpf.svg",
"phases": [
"INIT",
"OUTPUT",
"UPDATE"
],
"width": 80,
"height": 80,
"inputs": [
{
"x": 0,
"y": 40,
"side": "left"
}
],
"outputs": [
{
"x": 80,
"y": 40,
"side": "right"
}
],
"defaultParams": {
"Cutoff": 1
},
"render": {
"src": "lpf.svg",
"type": "image"
}
},
{
"type": "hpf",
"label": "HPF",
"icon": "hpf.svg",
"phases": [
"INIT",
"OUTPUT",
"UPDATE"
],
"width": 80,
"height": 80,
"inputs": [
{
"x": 0,
"y": 40,
"side": "left"
}
],
"outputs": [
{
"x": 80,
"y": 40,
"side": "right"
}
],
"defaultParams": {
"Cutoff": 1
},
"render": {
"src": "hpf.svg",
"type": "image"
}
},
{
"type": "derivative",
"label": "Derivative",
"icon": "derivative.svg",
"phases": [
"INIT",
"OUTPUT",
"UPDATE"
],
"width": 80,
"height": 80,
"inputs": [
{
"x": 0,
"y": 40,
"side": "left"
}
],
"outputs": [
{
"x": 80,
"y": 40,
"side": "right"
}
],
"defaultParams": {},
"render": {
"type": "math",
"useRectElement": true,
"bodyClass": "nf-block",
"mathGroupClass": "nf-derivative-formula",
"formula": "s"
}
},
{
"type": "pid",
"label": "PID",
"icon": "pid.svg",
"phases": [
"INIT",
"OUTPUT",
"UPDATE"
],
"width": 80,
"height": 80,
"inputs": [
{
"x": 0,
"y": 40,
"side": "left"
}
],
"outputs": [
{
"x": 80,
"y": 40,
"side": "right"
}
],
"defaultParams": {
"P": 1,
"I": 1,
"D": 0,
"N": 0,
"LowerSaturationLimit": "-inf",
"UpperSaturationLimit": "inf"
},
"render": {
"type": "math",
"bodyClass": "nf-block",
"mathGroupClass": "nf-pid-formula",
"formula": "K_p\\!+\\!\\frac{K_i}{s}\\!+\\!K_d s"
}
},
{
"type": "constraint",
"label": "Constraint",
"icon": "constraint.svg",
"phases": [
"INIT",
"OUTPUT",
"DERIVATIVE"
],
"width": 80,
"height": 80,
"inputs": [
{
"x": 0,
"y": 40,
"side": "left"
}
],
"outputs": [
{
"x": 80,
"y": 40,
"side": "right"
}
],
"defaultParams": {
"InitialCondition": 0
},
"render": {
"type": "math",
"bodyClass": "nf-block",
"mathGroupClass": "nf-constraint-formula",
"formula": "g=0"
}
}
]
}
Runtimemodules/nflow_blocks/src/cpp/continuous/derivative.cpp
//=============================================================================
// Copyright (c) 2016-present Allan CORNET (Nelson)
//=============================================================================
// This file is part of Nelson.
//=============================================================================
// LICENCE_BLOCK_BEGIN
// SPDX-License-Identifier: LGPL-3.0-or-later
// LICENCE_BLOCK_END
//=============================================================================
#include "SimEngineTypes.hpp"
#include "BlockRegistry.hpp"
#include "FieldNames.hpp"
#include "NFlowBlockDescriptor.hpp"
#include <cmath>
#include <algorithm>
#include "continuous_blocks.hpp"
//=============================================================================
bool
Nelson::NFlow::handleDerivative(SimCtx& ctx, const Block& b, Phase phase)
{
auto& st = getState(ctx, b.nid);
const int w = outputWidth(ctx, b.nid, 0);
// st.scalar / st.vec = previous SAMPLE's input; st.output / st.outLatch =
// the held backward difference replayed between sample points.
if (phase == Phase::INIT) {
st.scalar = 0.0;
st.output = 0.0;
st.derivPrimed = false;
if (w > 1) {
st.vec.assign(w, 0.0);
st.outLatch.assign(w, 0.0);
}
return false;
}
if (phase == Phase::ALGEBRAIC) {
// Feedthrough (reads the CURRENT input), so it runs in the topologically
// ordered ALGEBRAIC phase: the source feeding this block has then run
// first (an OUTPUT-phase derivative could be scheduled ahead of its source
// and read a stale input).
// The backward difference (u_k - u_{k-1}) / dt is recomputed at every
// committed sample point, so the recorded sample is the current step's
// derivative. Committed passes are the fixed-step loop and the solver
// loop's recordAt / located-event passes (ctx.sideEffectFree == false). A
// pure rhs / zero-crossing evaluation (sideEffectFree == true) replays the
// held value instead: a continuous consumer then sees a zero-order hold,
// not an intra-step slope that collapses to zero at the step boundary.
if (!ctx.sideEffectFree) {
const double invDt = 1.0 / std::max(ctx.dt, 1e-6);
// The first committed sample has nothing to difference against: the
// derivative is zero there and the previous input is seeded with the
// current one. A previous input of 0 fired a u(0)/dt spike for any
// input not starting at 0 (a constant 5 gave 500 at t = 0).
const bool prime = !st.derivPrimed;
st.derivPrimed = true;
if (w <= 1) {
double inp = getInput(ctx, b.nid, 0, 0.0);
if (prime) {
st.scalar = inp;
}
st.output = (inp - st.scalar) * invDt;
} else {
SigView u = getInputSig(ctx, b.nid, 0);
if ((int)st.vec.size() != w) {
st.vec.assign(w, 0.0);
}
if ((int)st.outLatch.size() != w) {
st.outLatch.assign(w, 0.0);
}
for (int i = 0; i < w; ++i) {
if (prime) {
st.vec[i] = sigAt(u, i);
}
st.outLatch[i] = (sigAt(u, i) - st.vec[i]) * invDt;
}
}
}
if (w <= 1) {
setOutput(ctx, b.nid, st.output);
} else {
double* y = outputSlice(ctx, b.nid, 0);
for (int i = 0; i < w; ++i) {
y[i] = (i < (int)st.outLatch.size()) ? st.outLatch[i] : 0.0;
}
}
return false;
}
if (phase == Phase::UPDATE) {
// Advance the stored previous-sample input for the next backward
// difference. Latched at the sample point so the solver loop's sub-step
// OUTPUT replays a stable held derivative.
if (w <= 1) {
st.scalar = getInput(ctx, b.nid, 0, 0.0);
} else {
SigView u = getInputSig(ctx, b.nid, 0);
if ((int)st.vec.size() != w) {
st.vec.assign(w, 0.0);
}
for (int i = 0; i < w; ++i) {
st.vec[i] = sigAt(u, i);
}
}
return false;
}
return false;
}
//=============================================================================
// The emitted step mirrors the simulator's committed pass: backward difference
// from the current input, then advance the stored previous input. Codegen emits
// blocks in topological order, so the source is available. Generated code only
// runs the committed step, so the solver's zero-order-hold branch needs no
// generated state.
Nelson::NFlow::BlockCodegenTemplate
Nelson::NFlow::getCodeGenCDerivative()
{
BlockCodegenTemplate t;
t.emitState = [](const BlockCodegenStateArgs& a) {
a.addState("der_prev_" + a.id, "", "");
a.addState("der_primed_" + a.id, "0.0", "");
};
t.emitStep = [](const BlockCodegenArgs& a) {
// Seed the previous input on the first step: nothing to difference
// against, so the derivative is zero (a previous input of 0 fired a
// u(0)/dt spike).
a.line("if (s->der_primed_" + a.id + " == 0.0) {");
a.line(" s->der_prev_" + a.id + " = " + a.in[0] + ";");
a.line(" s->der_primed_" + a.id + " = 1.0;");
a.line("}");
a.line("out_" + a.id + " = (" + a.in[0] + " - s->der_prev_" + a.id + ") / fmax(dt, 1e-6);");
a.line("s->der_prev_" + a.id + " = " + a.in[0] + ";");
};
return t;
}
//=============================================================================
Nelson::NFlow::BlockCodegenTemplate
Nelson::NFlow::getCodeGenRustDerivative()
{
BlockCodegenTemplate t;
t.emitState = [](const BlockCodegenStateArgs& a) {
a.addState("der_prev_" + a.id, "", "");
a.addState("der_primed_" + a.id, "0.0", "");
};
t.emitStep = [](const BlockCodegenArgs& a) {
a.line("if s.der_primed_" + a.id + " == 0.0 {");
a.line(" s.der_prev_" + a.id + " = " + a.in[0] + ";");
a.line(" s.der_primed_" + a.id + " = 1.0;");
a.line("}");
a.line("out_" + a.id + " = (" + a.in[0] + " - s.der_prev_" + a.id
+ ") / libm::fmax(dt, 1e-6_f64);");
a.line("s.der_prev_" + a.id + " = " + a.in[0] + ";");
};
return t;
}
//=============================================================================
