EscClassic.hpp

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/*
 * ESCClassic.hpp
 *
 *  Created on: Apr 13, 2015
 *      Author: Filip Mandic
 */

#ifndef ESCCLASSIC_HPP_
#define ESCCLASSIC_HPP_

#include <labust/control/esc/EscPerturbationBase.hpp>

namespace labust{
        namespace control{
                namespace esc{


                        class EscClassic : public EscPerturbationBase<double> {

                        public:

                                EscClassic(int ctrlNum, numericprecission Ts);

                                ~EscClassic();

                                 void initController(double sin_amp, double sin_freq, double corr_gain, double high_pass_pole, double low_pass_pole, double comp_zero, double comp_pole, double period);

                                 numericprecission preFiltering(numericprecission cost_signal);

                                 vector gradientEstimation(numericprecission cost_signal_filtered, vector additional_input);

                                 vector postFiltering(vector estimated_gradient);

                                 vector controllerGain(vector postFiltered);

                                 vector superimposePerturbation(vector control);

                                 /***
                                 * K - gain
                                 * A0 - perturbation amplitude
                                 */
                                vector sin_amp_, sin_freq_, corr_gain_, low_pass_pole_, comp_pole_, comp_zero_;
                                vector control_ref_, signal_demodulated_old_, lpf_out_old_,corr_signal_, phase_shift_,comp_old_;
                                /*** Controlled state */
                                vector state_;

                                numericprecission high_pass_pole_, hpf_out_old_, obj_val_old_;
                        };
                }
        }
}





#endif /* ESCCLASSIC_HPP_ */