Functions
PIDFFController.h File Reference
#include <labust/control/PIDBase.h>
#include <math.h>
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Functions

void PIDFF_dwffStep (PIDBase *self, float Ts, float error, float ff, float ds)
void PIDFF_ffStep (PIDBase *self, float Ts, float ff)
void PIDFF_modelTune (PIDBase *self, const PT1Model *const model, float w)
void PIDFF_step (PIDBase *self, float Ts)
void PIDFF_tune (PIDBase *self, float w)
void PIDFF_wffStep (PIDBase *self, float Ts, float error, float ff)
void PIDFF_wStep (PIDBase *self, float Ts, float error)

Function Documentation

void PIDFF_dwffStep ( PIDBase self,
float  Ts,
float  error,
float  ff,
float  ds 
)

Calculate one step of the PIDFF controller with externally supplied error, feedforward and derivative calculation.

Definition at line 97 of file PIDFFController.c.

void PIDFF_ffStep ( PIDBase self,
float  Ts,
float  ff 
) [inline]

Calculate one step of the PIDFF controller with externally supplied feedforward calculation.

Definition at line 89 of file PIDFFController.h.

void PIDFF_modelTune ( PIDBase self,
const PT1Model *const  model,
float  w 
)

Autotune the PIDFF controller based on the supplied PT1Model and desired closed loop frequency.

Todo:
Document the binomial autotuning (pole-placement)

Definition at line 37 of file PIDFFController.c.

void PIDFF_step ( PIDBase self,
float  Ts 
) [inline]

Calculate one step of the PIDFF controller.

Definition at line 67 of file PIDFFController.h.

void PIDFF_tune ( PIDBase self,
float  w 
)

Autotune the PIDFF controller using the plant model 1. Valid for higher level controllers.

Definition at line 51 of file PIDFFController.c.

void PIDFF_wffStep ( PIDBase self,
float  Ts,
float  error,
float  ff 
)

Calculate one step of the PIDFF controller with externally supplied error and feedforward calculation.

Definition at line 58 of file PIDFFController.c.

void PIDFF_wStep ( PIDBase self,
float  Ts,
float  error 
) [inline]

Calculate one step of the PIDFF controller with externally supplied error calculation.

Definition at line 78 of file PIDFFController.h.



labust_control
Author(s): Gyula Nagy
autogenerated on Fri Aug 28 2015 11:22:42