IPFFController.h File Reference

#include <labust/control/PIDBase.h>
#include <math.h>

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Functions
void	IPFF_ffStep (PIDBase *self, float Ts, float ff)
void	IPFF_modelTune (PIDBase *self, const PT1Model *const model, float w)
void	IPFF_step (PIDBase *self, float Ts)
void	IPFF_tune (PIDBase *self, float w)
void	IPFF_wffStep (PIDBase *self, float Ts, float error, float ff)
void	IPFF_wStep (PIDBase *self, float Ts, float error)

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Function Documentation

void IPFF_ffStep	(	PIDBase *	self,
		float	Ts,
		float	ff
	)		[inline]

Calculate one step of the IPFF controller with externally supplied feedforward calculation.

Definition at line 81 of file IPFFController.h.

void IPFF_modelTune	(	PIDBase *	self,
		const PT1Model *const	model,
		float	w
	)

Autotune the IP controller based on the supplied PT1Model and desired closed loop frequency.

Todo:

Document the binomial autotuning (pole-placement)

Definition at line 37 of file IPFFController.c.

void IPFF_step	(	PIDBase *	self,
		float	Ts
	)		[inline]

Calculate one step of the IPFF controller.

Definition at line 59 of file IPFFController.h.

void IPFF_tune	(	PIDBase *	self,
		float	w
	)

Autotune the IP controller using the plant model 1. Valid for higher level controllers.

Definition at line 50 of file IPFFController.c.

void IPFF_wffStep	(	PIDBase *	self,
		float	Ts,
		float	error,
		float	ff
	)

Calculate one step of the IP controller with externally supplied error and feedforward calculation.

Definition at line 57 of file IPFFController.c.

void IPFF_wStep	(	PIDBase *	self,
		float	Ts,
		float	error
	)		[inline]

Calculate one step of the IPFF controller with externally supplied error calculation.

Definition at line 70 of file IPFFController.h.