IPDFFController.c File Reference

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

Include dependency graph for IPDFFController.c:

Go to the source code of this file.

Functions
void	IPDFF_dwffStep (PIDBase *self, float Ts, float error, float ff, float ds)
void	IPDFF_modelTune (PIDBase *self, const PT1Model *const model, float w)
void	IPDFF_tune (PIDBase *self, float w)
void	IPDFF_wffStep (PIDBase *self, float Ts, float error, float ff)

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Function Documentation

void IPDFF_dwffStep	(	PIDBase *	self,
		float	Ts,
		float	error,
		float	ff,
		float	ds
	)

Calculate one step of the IPDFF controller with externally supplied error, feedforward and derivative calculation.

Definition at line 96 of file IPDFFController.c.

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

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

Todo:

Document the binomial autotuning (pole-placement)

Definition at line 37 of file IPDFFController.c.

void IPDFF_tune	(	PIDBase *	self,
		float	w
	)

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

Definition at line 50 of file IPDFFController.c.

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

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

Definition at line 57 of file IPDFFController.c.