PIFFController.c File Reference

#include <labust/control/PIFFController.h>
#include <labust/math/NumberManipulation.hpp>
#include <math.h>
#include <ros/ros.h>

Include dependency graph for PIFFController.c:

Go to the source code of this file.

Functions
void	PIFF_modelTune (PIDBase *self, const PT1Model *const model, float w, float a)
void	PIFF_tune (PIDBase *self, float w, float a)
void	PIFF_wffIdle (PIDBase *self, float Ts, float error, float perror, float ff)
void	PIFF_wffStep (PIDBase *self, float Ts, float error, float perror, float ff)

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Function Documentation

void PIFF_modelTune	(	PIDBase *	self,
		const PT1Model *const	model,
		float	w,
		float	a = 1.5
	)

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

Todo:

Document the binomial autotuning (pole-placement)

Definition at line 39 of file PIFFController.c.

void PIFF_tune	(	PIDBase *	self,
		float	w,
		float	a = 1.5
	)

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

Definition at line 59 of file PIFFController.c.

void PIFF_wffIdle	(	PIDBase *	self,
		float	Ts,
		float	error,
		float	perror,
		float	ff
	)

The idle step of the controller.

Definition at line 72 of file PIFFController.c.

void PIFF_wffStep	(	PIDBase *	self,
		float	Ts,
		float	error,
		float	perror,
		float	ff
	)

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

Todo:

Deprecate windup sign ?

Definition at line 124 of file PIFFController.c.