PIDBase.h File Reference

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Classes
struct	PIDBase
struct	PT1Model
Typedefs
typedef struct PIDBase	PIDBase
typedef struct PT1Model	PT1Model
Functions
void	PIDBase_init (PIDBase *self)
float	sat (float u, float low, float high)

---

Typedef Documentation

typedef struct PIDBase PIDBase

The PID controller base.

Todo:

Use doxygen grouping and reduce size

Document difference between auto-windup and ext-windup

Rename lastError, lastState to yk_1, ek_1,ek_2 etc.

typedef struct PT1Model PT1Model

The extended PT1 model used for vehicle. The model can be used to auto-tune the PIDController class. The model is defined as:

alpha * nu' = (beta + betaa * abs(nu))*nu + tau

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Function Documentation

void PIDBase_init

(

PIDBase *

self

)

Initialize the controller base. Set all the values to zero and disable auto windup detection.

Definition at line 36 of file PIDBase.c.

float sat	(	float	u,
		float	low,
		float	high
	)

The helper function for output saturation.

Definition at line 62 of file PIDBase.c.