PT1Model Struct Reference

#include <PIDBase.h>

List of all members.

Public Attributes
float	alpha
float	beta
float	betaa

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Detailed Description

The extended PT1 model used for vehicle. The model can be used to auto-tune the PIDController class. The model is defined as:

alpha * nu' = (beta + betaa * abs(nu))*nu + tau

Definition at line 42 of file PIDBase.h.

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Member Data Documentation

float PT1Model::alpha

The inertia parameter.

Definition at line 47 of file PIDBase.h.

float PT1Model::beta

The linear drag parameter.

Definition at line 51 of file PIDBase.h.

float PT1Model::betaa

The non-linear drag parameter.

Definition at line 55 of file PIDBase.h.

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The documentation for this struct was generated from the following file:

• PIDBase.h