PIFFController.h File Reference

#include <labust/control/PIDBase.h>
#include <math.h>

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Functions
void	PIFF_ffIdle (PIDBase *self, float Ts, float ff)
void	PIFF_ffStep (PIDBase *self, float Ts, float ff)
void	PIFF_idle (PIDBase *self, float Ts)
void	PIFF_modelTune (PIDBase *self, const PT1Model *const model, float w, float a=1.5)
void	PIFF_step (PIDBase *self, float Ts)
void	PIFF_tune (PIDBase *self, float w, float a=1.5)
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)
void	PIFF_wIdle (PIDBase *self, float Ts, float error, float perror)
void	PIFF_wStep (PIDBase *self, float Ts, float error, float perror)

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Function Documentation

void PIFF_ffIdle	(	PIDBase *	self,
		float	Ts,
		float	ff
	)

The idle step of the controller.

Definition at line 119 of file PIFFController.h.

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

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

Definition at line 109 of file PIFFController.h.

void PIFF_idle	(	PIDBase *	self,
		float	Ts
	)

The idle step of the controller.

Definition at line 74 of file PIFFController.h.

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_step	(	PIDBase *	self,
		float	Ts
	)		[inline]

Calculate one step of the PIFF controller.

Definition at line 63 of file PIFFController.h.

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.

void PIFF_wIdle	(	PIDBase *	self,
		float	Ts,
		float	error,
		float	perror
	)

The idle step of the controller.

Definition at line 97 of file PIFFController.h.

void PIFF_wStep	(	PIDBase *	self,
		float	Ts,
		float	error,
		float	perror
	)		[inline]

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

Definition at line 86 of file PIFFController.h.