00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, LABUST, UNIZG-FER 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the LABUST nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 #ifndef IPFFCONTROLLER_H_ 00035 #define IPFFCONTROLLER_H_ 00036 #include <labust/control/PIDBase.h> 00037 #include <math.h> 00043 void IPFF_modelTune(PIDBase* self, 00044 const PT1Model* const model, 00045 float w); 00050 void IPFF_tune(PIDBase* self, float w); 00055 void IPFF_wffStep(PIDBase* self, float Ts, float error, float ff); 00059 inline void IPFF_step(PIDBase* self, float Ts) 00060 { 00061 IPFF_wffStep(self, Ts, 00062 self->desired - self->state, 00063 (self->model.betaa*fabs(self->state))*self->state); 00064 } 00069 inline void IPFF_wStep(PIDBase* self, float Ts, float error) 00070 { 00071 IPFF_wffStep(self, Ts, 00072 error, 00073 (self->model.betaa*fabs(self->state))*self->state); 00074 } 00079 inline void IPFF_ffStep(PIDBase* self, float Ts, float ff) 00080 { 00081 IPFF_wffStep(self, Ts, 00082 self->desired - self->state, 00083 ff); 00084 } 00085 00086 /* IPFFCONTROLLER_H_ */ 00087 #endif