Arkadiy Turevskiy

@clipix68:
The reason engine starts at 2,000 rpm is that the model's initial condition is set this way. To start at a different speed, the model initial condition has to be set appropriately. This inclused two states in the plant and the integrator in the PID controller.

Take a look at this video for how to trim the model at a desired speed:
http://www.mathworks.com/products/demos/slcontrol/batchmode_trimming_and_linearization/batchmode_trimming_and_linearization.html

In the linearization GUI, specify output to be at the speed you want, keep states at steady state.

Get the resulting state values and the input value. Initialize your states and PID integrator accordingly.

HTH.
Arkadiy

Couple of additional comments:
1) PID Controller block in Simulink has an option to turn anti-windup protection on. Here is the doc for this block:
http://www.mathworks.com/help/toolbox/simulink/slref/pidcontroller.html

For a comprehensive collection of demos on tutorials on PID Control with MATLAb and Simulink, see this page:
http://www.mathworks.com/discovery/pid-control.html

For people looking for a comprehensive collection of resources on PID tuning, design, and implementation, take a look at this page:
http://www.mathworks.com/discovery/pid-control.html

In Your webinar You talked about implementing PID on digital microprocessor. What kind of microprocessor should I use if would like to do that? Can you give me few certain models? Thanks for your response