PID_Controller.h

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/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014  Jose Luis Blanco Claraco (University of Almeria)    |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under GNU General Public License version 3                  |
  |   See <http://www.gnu.org/licenses/>                                    |
  +-------------------------------------------------------------------------+ */
#pragma once

namespace mvsim
{
struct PID_Controller
{
        PID_Controller();

        double KP, KI, KD;
        double max_out;  

        double compute(double err, double dt);

   private:
        double lastOutput;
        double e_n, e_n_1, e_n_2;
};
}