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| constexpr | IControl (const T &ki) |
| | Constructs an I (Integrator) controller.
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| |
| constexpr | IControl (const IControl &)=default |
| | Default copy constructor.
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| |
| constexpr void | set_param (const T &ki) |
| | Sets the integrator gain.
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| |
| constexpr void | reset () |
| | resets (clears) the internal states
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| |
| constexpr T | input (const T &u, const T &Ts) |
| | Adds a new value input and sample time to calculate the next output.
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| constexpr T | operator() (const T &u, const T &Ts) |
| | Adds a new value input and sample time to calculate the next output.
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| |
template<class T>
class controlpp::timevar::IControl< T >
An I (Integrator) controller, with varying smaple-time.
An I controller with the following transfer function:
\[
I(s) = \frac{k_i}{s}
\]
discretised with the tustin transformation:
\[
s = \frac{2}{T_s} \frac{1 - z^{-1}}{1 + z^{-1}}
\]
to the time series:
\[
y_k = \frac{k_i T_s}{2} \left( u_k + u_{k-1} \right) + y_{k-1}
\]
where:
- \(k_i\) is the integral gain
- \(T_s\) is the sample time interval between uk−1uk−1 and ukuk (in seconds)
allows varying sample-times \(T_s\)
- Template Parameters
-
| T | the data type the controller uses, like float or double |
- See also
- controlpp::IAntiWindup
1.9.8