controlpp::timevar::PIDControl< T > Class Template Reference

A PID (proportional + integral + differential) controller with variable sample-times. More...

#include <controlpp/TimeVariantControl.hpp>

Public Member Functions
	PIDControl (const T &kp, const T &ki, const T &kd, const T &omega)
	constructs a PID controller form gain parameters
constexpr T	input (const T &u, const T &Ts)
	Input a new sample to the controller.
constexpr T	operator() (const T &u, const T &Ts)
	resets (clears) the internal states resets the internal states ( \(u_{k-1}\), \(u_{k-2}\), \(y_{k-1}\) and \(y_{k-2}\)) to zero
constexpr void	reset ()
	resets (clears) the internal states resets the internal states ( \(u_{k-1}\), \(u_{k-2}\), \(y_{k-1}\) and \(y_{k-2}\)) to zero

Static Public Member Functions
static PIDControl	from_alpha_tune (const T &alpha, const T &omega_c, const T &mag_G)
	Constructa a PID controller using the alpha tuning method.

Friends
constexpr ValueSampletimePair< T >	operator>> (const ValueSampletimePair< T > &p, PIDControl &c)

Detailed Description

template<class T>
class controlpp::timevar::PIDControl< T >

A PID (proportional + integral + differential) controller with variable sample-times.

with the transfer function:

\[ PID(s) = \left( k_p + \frac{k_i}{s} + k_d s \right)\frac{1}{1 + \frac{s}{\omega}} \]

The therm:

\[ \frac{1}{1 + \frac{s}{\omega}} \]

has been added to:

1. make the D controller realisable
2. thame the D controller for high frequencies

Constructor & Destructor Documentation

PIDControl()

template<class T >

controlpp::timevar::PIDControl< T >::PIDControl ( const T &  kp, const T &  ki, const T &  kd, const T &  omega  )

inline

constructs a PID controller form gain parameters

Parameters

kp	The proportional gain
ki	The integral gain
kd	The differential gain
omega	The thaming frequency

Member Function Documentation

from_alpha_tune()

template<class T >

static PIDControl controlpp::timevar::PIDControl< T >::from_alpha_tune ( const T &  alpha, const T &  omega_c, const T &  mag_G  )

inlinestatic

Constructa a PID controller using the alpha tuning method.

TODO: insert image with explanation of how the alpha tuning works

Parameters

alpha	Design parameter Large alpha: increases phase margin but decreases gain at low frequencies more robust but less performance Small alpha: decreses phase margin but increses gain at low frequencies less robust but more performant
mag_G	The magnitude of the plant that should be controlled at the desired cutoff frequency
omega_c	The desired cutoff frequency

input()

template<class T >

constexpr T controlpp::timevar::PIDControl< T >::input ( const T &  u, const T &  Ts  )

inlineconstexpr

Input a new sample to the controller.

Parameters

u	The control input
Ts	The sample-time

See also

operator()(const T& u, const T& Ts)

operator()()

template<class T >

constexpr T controlpp::timevar::PIDControl< T >::operator() ( const T &  u, const T &  Ts  )

inlineconstexpr

resets (clears) the internal states resets the internal states ( \(u_{k-1}\), \(u_{k-2}\), \(y_{k-1}\) and \(y_{k-2}\)) to zero

reset()

template<class T >

constexpr void controlpp::timevar::PIDControl< T >::reset ( )

inlineconstexpr

resets (clears) the internal states resets the internal states ( \(u_{k-1}\), \(u_{k-2}\), \(y_{k-1}\) and \(y_{k-2}\)) to zero

Friends And Related Symbol Documentation

operator>>

template<class T >

constexpr ValueSampletimePair< T > operator>> ( const ValueSampletimePair< T > &  p, PIDControl< T > &  c  )

friend

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The documentation for this class was generated from the following file:

• include/controlpp/TimeVariantControl.hpp