PIFFController.h

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#ifndef PIFFCONTROLLER_H_
#define PIFFCONTROLLER_H_
#include <labust/control/PIDBase.h>
#include <math.h>
void PIFF_modelTune(PIDBase* self,
                const PT1Model* const model,
                float w, float a=1.5);
void PIFF_tune(PIDBase* self, float w, float a=1.5);
void PIFF_wffStep(PIDBase* self, float Ts, float error, float perror, float ff);
void PIFF_wffIdle(PIDBase* self, float Ts, float error, float perror, float ff);
inline void PIFF_step(PIDBase* self, float Ts)
{
        PIFF_wffStep(self, Ts,
                        self->desired - self->state,
                        self->b*self->desired - self->state,
                        //Feed-forward as feedback linearization
                        (self->model.betaa*fabs(self->state))*self->state);
}
void PIFF_idle(PIDBase* self, float Ts)
{
        PIFF_wffIdle(self, Ts,
                        self->desired - self->state,
                        self->b*self->desired - self->state,
                        //Feed-forward as feedback linearization
                        (self->model.betaa*fabs(self->state))*self->state);
}
inline void PIFF_wStep(PIDBase* self, float Ts, float error, float perror)
{
        PIFF_wffStep(self, Ts,
                        error,
                        perror,
                        //Feed-forward as feedback linearization
                        (self->model.betaa*fabs(self->state))*self->state);
}
void PIFF_wIdle(PIDBase* self, float Ts, float error, float perror)
{
        PIFF_wffIdle(self, Ts,
                        error,
                        perror,
                        //Feed-forward as feedback linearization
                        (self->model.betaa*fabs(self->state))*self->state);
}
inline void PIFF_ffStep(PIDBase* self, float Ts, float ff)
{
        PIFF_wffStep(self, Ts,
                        self->desired - self->state,
                        self->b*self->desired - self->state,
                        ff);
}
void PIFF_ffIdle(PIDBase* self, float Ts, float ff)
{
        PIFF_wffIdle(self, Ts,
                        self->desired - self->state,
                        self->b*self->desired - self->state,
                        ff);
}

/* PIFFCONTROLLER_H_ */
#endif