PID_Controller.h
Go to the documentation of this file.
1 /*+-------------------------------------------------------------------------+
2  | MultiVehicle simulator (libmvsim) |
3  | |
4  | Copyright (C) 2014-2020 Jose Luis Blanco Claraco |
5  | Copyright (C) 2017 Borys Tymchenko (Odessa Polytechnic University) |
6  | Distributed under 3-clause BSD License |
7  | See COPYING |
8  +-------------------------------------------------------------------------+ */
9 #pragma once
10 
11 namespace mvsim
12 {
14 {
16 
17  double KP, KI, KD;
18  double max_out;
19 
21  double compute(double err, double dt);
22 
23  private:
24  double lastOutput;
25  double e_n, e_n_1, e_n_2;
26 };
27 } // namespace mvsim
double max_out
For clamping (0=no clamp)
double compute(double err, double dt)


mvsim
Author(s):
autogenerated on Fri May 7 2021 03:05:51