IPFFController.h
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00001 /*********************************************************************
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00034 #ifndef IPFFCONTROLLER_H_
00035 #define IPFFCONTROLLER_H_
00036 #include <labust/control/PIDBase.h>
00037 #include <math.h>
00043 void IPFF_modelTune(PIDBase* self,
00044                 const PT1Model* const model,
00045                 float w);
00050 void IPFF_tune(PIDBase* self, float w);
00055 void IPFF_wffStep(PIDBase* self, float Ts, float error, float ff);
00059 inline void IPFF_step(PIDBase* self, float Ts)
00060 {
00061         IPFF_wffStep(self, Ts,
00062                         self->desired - self->state,
00063                         (self->model.beta +
00064                         self->model.betaa*fabs(self->desired))*self->desired);
00065 }
00070 inline void IPFF_wStep(PIDBase* self, float Ts, float error)
00071 {
00072         IPFF_wffStep(self, Ts,
00073                         error,
00074                         (self->model.beta +
00075                         self->model.betaa*fabs(self->desired))*self->desired);
00076 }
00081 inline void IPFF_ffStep(PIDBase* self, float Ts, float ff)
00082 {
00083         IPFF_wffStep(self, Ts,
00084                         self->desired - self->state,
00085                         ff);
00086 }
00087 
00088 /* IPFFCONTROLLER_H_ */
00089 #endif


labust_control
Author(s): Gyula Nagy
autogenerated on Fri Feb 7 2014 11:36:43