SOIdentification.hpp

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#ifndef SOIDENTIFICATION_HPP_
#define SOIDENTIFICATION_HPP_
#include <labust/control/Relay.hpp>
#include <vector>

namespace labust
{
  namespace control
  {
    class SOIdentification
    {
    public:
      enum {alpha=0, kx=1, kxx=2, delta=3, wn=4, numParams};
      SOIdentification(double C = 0, double X = 0,
                double R = 0, double E=0.1, double identLen = 4);
      ~SOIdentification();

      inline void setRelay(double C, double X)
      {
        this->relay.setAmplitude(C);
        this->relay.setHysteresis(X);
      }

      inline bool isFinished(){return this->finished;}
      inline const std::vector<double>& parameters(){return params;}

      double step(double error /*double desired, double state*/, double dT);
      void reset();

      void Ref(double ref){this->ref = ref;};
      double Ref(){return this->ref;};
      inline bool hasSwitched(){return this->relay.hasSwitched();};
      inline double avgError(){return minMaxError;};

    private:
      void calculateParameters();

      bool finished;
      labust::control::Relay relay;
      std::vector<double> params;
      double tSum;
      double maxOsc, minOsc;
      int counterHigh, counterLow;
      double eMaxError,eMinError, minMaxError;
      double ref;
      int identLen;
      std::vector<double> xa_high, xa_low, e_min, e_max, t_min, t_max;
    };
  };
};
/* SOIDENTIFICATION_H_ */
#endif