Implements a PID control law to be used within a Controller. More...

#include <pid_controller.hpp>

Inheritance diagram for PIDcontroller:

Public Member Functions
virtual ControlLaw *	clone () const
virtual uint	getNP () const
virtual uint	getNU () const
uint	getNumInputs () const
uint	getNumOutputs () const
virtual uint	getNW () const
virtual uint	getNX () const
virtual uint	getNXA () const
virtual uint	getNY () const
virtual returnValue	init (double startTime=0.0, const DVector &x0_=emptyConstVector, const DVector &p_=emptyConstVector, const VariablesGrid &_yRef=emptyConstVariablesGrid)
virtual BooleanType	isDynamic () const
virtual BooleanType	isStatic () const
PIDcontroller &	operator= (const PIDcontroller &rhs)
	PIDcontroller ()
	PIDcontroller (uint _nInputs, uint _nOutputs, double _samplingTime=DEFAULT_SAMPLING_TIME)
	PIDcontroller (const PIDcontroller &rhs)
returnValue	setDerivativeWeights (const DVector &_dWeights)
returnValue	setIntegralWeights (const DVector &_iWeights)
returnValue	setProportionalWeights (const DVector &_pWeights)
virtual returnValue	step (double currentTime, const DVector &_x, const DVector &_p=emptyConstVector, const VariablesGrid &_yRef=emptyConstVariablesGrid)
virtual	~PIDcontroller ()
Protected Member Functions
returnValue	determineControlAction (const DVector &error, DVector &output)
Protected Attributes
DVector	dWeights
DVector	iValue
DVector	iWeights
DVector	lastError
uint	nInputs
uint	nOutputs
DVector	pWeights

Detailed Description

Implements a PID control law to be used within a Controller.

The class PIDcontroller implements a PID control law to be used within a Controller.

For each input component, the weight for the proportional, integral and derivative term can be specified. The PID controller can be used in one of two different modes, depending on the number of inputs and outputs:

i) nOutputs = nInputs: Each output component is determined by the sum of the P, I, and D weight on the corresponding input component.

ii) nOutputs = 1: The component is determined by the sum of the P, I, and D weights on all input components.

Author:: Hans Joachim Ferreau, Boris Houska

Definition at line 67 of file pid_controller.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO PIDcontroller::PIDcontroller ( )

Default constructor.

Definition at line 46 of file pid_controller.cpp.

PIDcontroller::PIDcontroller	(	uint	_nInputs,
		uint	_nOutputs,
		double	_samplingTime = `DEFAULT_SAMPLING_TIME`
	)

Constructor which takes the number of inputs and outputs of the PID controller as well as the sampling time.

Parameters:

[in]	_nInputs	Number of inputs.
[in]	_nOutputs	Number of outputs.
[in]	_samplingTime	Sampling time.

Definition at line 55 of file pid_controller.cpp.

PIDcontroller::PIDcontroller ( const PIDcontroller & rhs )

Copy constructor (deep copy).

Parameters:

[in] rhs Right-hand side object.

Definition at line 88 of file pid_controller.cpp.

PIDcontroller::~PIDcontroller ( ) [virtual]

Destructor.

Definition at line 102 of file pid_controller.cpp.

Member Function Documentation

ControlLaw * PIDcontroller::clone ( ) const [virtual]

Clone constructor (deep copy).

Returns:: Pointer to deep copy of base class type

Implements ControlLaw.

Definition at line 129 of file pid_controller.cpp.

returnValue PIDcontroller::determineControlAction	(	const DVector &	error,
		DVector &	output
	)		`[protected]`

Actually calculates the current control action based on the given current error.

Parameters:

[in]	error	Current error (difference to reference value).
[out]	output	Current control action.

Returns:: SUCCESSFUL_RETURN

Definition at line 321 of file pid_controller.cpp.

uint PIDcontroller::getNP ( ) const [virtual]

Returns number of parameters.

Returns:: Number of parameters

Reimplemented from ControlLaw.

Definition at line 283 of file pid_controller.cpp.

uint PIDcontroller::getNU ( ) const [virtual]

Returns number of controls. This is the same as the number of outputs.

Returns:: Number of controls

Reimplemented from ControlLaw.

Definition at line 277 of file pid_controller.cpp.

uint PIDcontroller::getNumInputs ( ) const [inline]

Returns number of input components of the PID controller.

Returns:: Number of input components

uint PIDcontroller::getNumOutputs ( ) const [inline]

Returns number of output components of the PID controller.

Returns:: Number of output components

uint PIDcontroller::getNW ( ) const [virtual]

Returns number of (estimated) disturbances.

Returns:: Number of (estimated) disturbances

Reimplemented from ControlLaw.

Definition at line 289 of file pid_controller.cpp.

uint PIDcontroller::getNX ( ) const [virtual]

Returns number of (estimated) differential states. This is the same as the number of inputs.

Returns:: Number of (estimated) differential states

Reimplemented from ControlLaw.

Definition at line 265 of file pid_controller.cpp.

uint PIDcontroller::getNXA ( ) const [virtual]

Returns number of (estimated) algebraic states.

Returns:: Number of (estimated) algebraic states

Reimplemented from ControlLaw.

Definition at line 271 of file pid_controller.cpp.

uint PIDcontroller::getNY ( ) const [virtual]

Returns number of process outputs.

Returns:: Number of process outputs

Reimplemented from ControlLaw.

Definition at line 295 of file pid_controller.cpp.

returnValue PIDcontroller::init	(	double	startTime = `0.0`,
		const DVector &	x0_ = `emptyConstVector`,
		const DVector &	p_ = `emptyConstVector`,
		const VariablesGrid &	_yRef = `emptyConstVariablesGrid`
	)		`[virtual]`

Initializes the control law with given start values and performs a number of consistency checks.

Parameters:

[in]	_startTime	Start time.
[in]	_x	Initial value for differential states.
[in]	_p	Initial value for parameters.
[in]	_yRef	Initial value for reference trajectory.

Returns:: SUCCESSFUL_RETURN

Implements ControlLaw.

Definition at line 173 of file pid_controller.cpp.

BooleanType PIDcontroller::isDynamic ( ) const [virtual]

Returns whether the control law is based on dynamic optimization or a static one.

Returns:: BT_TRUE iff control law is based on dynamic optimization,
BT_FALSE otherwise

Implements ControlLaw.

Definition at line 301 of file pid_controller.cpp.

BooleanType PIDcontroller::isStatic ( ) const [virtual]

Returns whether the control law is a static one or based on dynamic optimization.

Returns:: BT_TRUE iff control law is a static one,
BT_FALSE otherwise

Implements ControlLaw.

Definition at line 307 of file pid_controller.cpp.

PIDcontroller & PIDcontroller::operator= ( const PIDcontroller & rhs )

Assignment operator (deep copy).

Parameters:

[in] rhs Right-hand side object.

Definition at line 107 of file pid_controller.cpp.

returnValue PIDcontroller::setDerivativeWeights ( const DVector & _dWeights )

Assigns new derivative weights to the input components.

Parameters:

[in] _dWeights New derivative weights.

Returns:: SUCCESSFUL_RETURN,
RET_VECTOR_DIMENSION_MISMATCH

Definition at line 160 of file pid_controller.cpp.

returnValue PIDcontroller::setIntegralWeights ( const DVector & _iWeights )

Assigns new integral weights to the input components.

Parameters:

[in] _iWeights New integral weights.

Returns:: SUCCESSFUL_RETURN,
RET_VECTOR_DIMENSION_MISMATCH

Definition at line 148 of file pid_controller.cpp.

returnValue PIDcontroller::setProportionalWeights ( const DVector & _pWeights )

Assigns new proportional weights to the input components.

Parameters:

[in] _pWeights New proportional weights.

Returns:: SUCCESSFUL_RETURN,
RET_VECTOR_DIMENSION_MISMATCH

Definition at line 136 of file pid_controller.cpp.

returnValue PIDcontroller::step	(	double	currentTime,
		const DVector &	_x,
		const DVector &	_p = `emptyConstVector`,
		const VariablesGrid &	_yRef = `emptyConstVariablesGrid`
	)		`[virtual]`

Performs next step of the control law based on given inputs.

Parameters:

[in]	currentTime	Current time.
[in]	_x	Most recent value for differential states.
[in]	_p	Most recent value for parameters.
[in]	_yRef	Current piece of reference trajectory.