Functions
PIFFController.h File Reference
#include <labust/control/PIDBase.h>
#include <math.h>
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Functions

void PIFF_ffStep (PIDBase *self, float Ts, float ff)
void PIFF_modelTune (PIDBase *self, const PT1Model *const model, float w)
void PIFF_step (PIDBase *self, float Ts)
void PIFF_tune (PIDBase *self, float w)
void PIFF_wffStep (PIDBase *self, float Ts, float error, float ff)
void PIFF_wStep (PIDBase *self, float Ts, float error)

Function Documentation

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

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

Definition at line 81 of file PIFFController.h.

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

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

Todo:
Document the binomial autotuning (pole-placement)

Definition at line 37 of file PIFFController.c.

void PIFF_step ( PIDBase self,
float  Ts 
) [inline]

Calculate one step of the PIFF controller.

Definition at line 59 of file PIFFController.h.

void PIFF_tune ( PIDBase self,
float  w 
)

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

Definition at line 50 of file PIFFController.c.

void PIFF_wffStep ( PIDBase self,
float  Ts,
float  error,
float  ff 
)

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

Definition at line 57 of file PIFFController.c.

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

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

Definition at line 70 of file PIFFController.h.



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