IPDFFController.h File Reference

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

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

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

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

Definition at line 89 of file IPDFFController.h.

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_step	(	PIDBase *	self,
		float	Ts
	)		[inline]

Calculate one step of the IPDFF controller.

Definition at line 67 of file IPDFFController.h.

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.

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

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

Definition at line 78 of file IPDFFController.h.