PID_Controller.cpp

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/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014-2023  Jose Luis Blanco Claraco                       |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under 3-clause BSD License                                  |
  |   See COPYING                                                           |
  +-------------------------------------------------------------------------+ */

#include <mvsim/PID_Controller.h>

using namespace mvsim;

double PID_Controller::compute(double err, double dt)
{
        e_n_2 = e_n_1;
        e_n_1 = e_n;
        e_n = err;

        double output = lastOutput + KP * (e_n - e_n_1) + KI * e_n * dt +
                                        KD * (e_n - 2 * e_n_1 + e_n_2) / dt;

        // prevent integral windup
        if (max_out != 0.0 && (output < -max_out || output > max_out))
        {
                output -= KI * e_n * dt;
        }

        lastOutput = output;

        if (max_out != 0.0)
        {
                if (output < -max_out) output = -max_out;
                if (output > max_out) output = max_out;
        }

        return output;
}

void PID_Controller::reset()
{
        lastOutput = 0;
        e_n = 0, e_n_1 = 0, e_n_2 = 0;
}