pid_controller.hpp

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/*
 *    This file is part of ACADO Toolkit.
 *
 *    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
 *    Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
 *    Milan Vukov, Rien Quirynen, KU Leuven.
 *    Developed within the Optimization in Engineering Center (OPTEC)
 *    under supervision of Moritz Diehl. All rights reserved.
 *
 *    ACADO Toolkit is free software; you can redistribute it and/or
 *    modify it under the terms of the GNU Lesser General Public
 *    License as published by the Free Software Foundation; either
 *    version 3 of the License, or (at your option) any later version.
 *
 *    ACADO Toolkit is distributed in the hope that it will be useful,
 *    but WITHOUT ANY WARRANTY; without even the implied warranty of
 *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 *    Lesser General Public License for more details.
 *
 *    You should have received a copy of the GNU Lesser General Public
 *    License along with ACADO Toolkit; if not, write to the Free Software
 *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */


#ifndef ACADO_TOOLKIT_PID_CONTROLLER_HPP
#define ACADO_TOOLKIT_PID_CONTROLLER_HPP


#include <acado/utils/acado_utils.hpp>
#include <acado/function/function.hpp>

#include <acado/control_law/control_law.hpp>
#include <acado/control_law/clipping_functionality.hpp>


BEGIN_NAMESPACE_ACADO


class PIDcontroller : public ControlLaw, public ClippingFunctionality
{
        //
        // PUBLIC MEMBER FUNCTIONS:
        //
        public:

                PIDcontroller( );

                PIDcontroller(  uint _nInputs,
                                                uint _nOutputs,
                                                double _samplingTime = DEFAULT_SAMPLING_TIME
                                                );

                PIDcontroller(  const PIDcontroller& rhs
                                                );

                virtual ~PIDcontroller( );

                PIDcontroller& operator=(       const PIDcontroller& rhs
                                                                        );

                virtual ControlLaw* clone( ) const;


                returnValue setProportionalWeights(     const DVector& _pWeights
                                                                                        );

                returnValue setIntegralWeights(         const DVector& _iWeights
                                                                                        );

                returnValue setDerivativeWeights(       const DVector& _dWeights
                                                                                        );


                virtual returnValue init(       double startTime = 0.0,
                                                                        const DVector &x0_ = emptyConstVector,
                                                                        const DVector &p_ = emptyConstVector,
                                                                        const VariablesGrid& _yRef = emptyConstVariablesGrid
                                                                        );


                virtual returnValue step(       double currentTime,
                                                                        const DVector& _x,
                                                                        const DVector& _p = emptyConstVector,
                                                                        const VariablesGrid& _yRef = emptyConstVariablesGrid
                                                                        );


                inline uint getNumInputs( ) const;

                inline uint getNumOutputs( ) const;


                virtual uint getNX( ) const;

                virtual uint getNXA( ) const;

                virtual uint getNU( ) const;

                virtual uint getNP( ) const;

                virtual uint getNW( ) const;

                virtual uint getNY( ) const;


                virtual BooleanType isDynamic( ) const;

                virtual BooleanType isStatic( ) const;



        //
        // PROTECTED MEMBER FUNCTIONS:
        //
        protected:

                returnValue determineControlAction(     const DVector& error,
                                                                                        DVector& output
                                                                                        );


        //
        // DATA MEMBERS:
        //
        protected:
                uint nInputs;                                   
                uint nOutputs;                                  
                DVector pWeights;                               
                DVector iWeights;                               
                DVector dWeights;                               
                DVector iValue;                                 
                DVector lastError;                              
};


CLOSE_NAMESPACE_ACADO


#include <acado/control_law/pid_controller.ipp>


#endif  // ACADO_TOOLKIT_PID_CONTROLLER_HPP

/*
 *      end of file
 */