controlpp::timevar::PT1Control< T > Class Template Reference

A PT1 (proportional time first order) filter (=low-pass element of order 1), with varying smaple-time. More...

#include <controlpp/TimeVariantControl.hpp>

Public Member Functions
constexpr	PT1Control (const T &K, const T &omega)
	Constructs a low-pass filter.
constexpr	PT1Control (const PT1Control &)=default
	Default copy constructor.
constexpr void	set_gain (const T &g)
constexpr const T &	gain () const
constexpr void	set_omega (const T &w)
constexpr const T &	omega () const
constexpr T	input (const T &u, const T &Ts)
constexpr T	operator() (const T &u, const T &Ts)
constexpr void	reset ()

Friends
constexpr ValueSampletimePair< T >	operator>> (const ValueSampletimePair< T > &p, PT1Control &c)

Detailed Description

template<class T>
class controlpp::timevar::PT1Control< T >

A PT1 (proportional time first order) filter (=low-pass element of order 1), with varying smaple-time.

With the continuous transfer function:

\[ \text{PT}_{1} = \frac{K}{1 + \frac{s}{\omega}} \]

Discretised with the tustin transformation:

\[ s = \frac{2}{T_s} \frac{1 - z^{-1}}{1 + z^{-1}} \]

to the sample series:

\[ y_k = \frac{a (u_k + u_{k-1}) - b y_{k-1}}{c}; a = K \omega_ * T_s b = \omega * T_s - 2 c = \omega * T_s + 2 \]

with:

• \(K\) The gain of the low-pass
• \(T_s\) The sample-time in seconds
• \(\omega\) The -3dB bandwidth of the low-pass
• \(u_k\) and \(u_{k-1}\) the current and previous control input
• \(y_k\) and \(y_{k-1}\) the current and previous control output

Constructor & Destructor Documentation

PT1Control() [1/2]

template<class T >

constexpr controlpp::timevar::PT1Control< T >::PT1Control ( const T &  K, const T &  omega  )

inlineconstexpr

Constructs a low-pass filter.

Parameters

K	The gain of the filter
omega	The -3dB bandwidth of the lowpass filter

PT1Control() [2/2]

template<class T >

constexpr controlpp::timevar::PT1Control< T >::PT1Control ( const PT1Control< T > &  )

constexprdefault

Default copy constructor.

Member Function Documentation

gain()

template<class T >

constexpr const T & controlpp::timevar::PT1Control< T >::gain ( ) const

inlineconstexpr

input()

template<class T >

constexpr T controlpp::timevar::PT1Control< T >::input ( const T &  u, const T &  Ts  )

inlineconstexpr

omega()

template<class T >

constexpr const T & controlpp::timevar::PT1Control< T >::omega ( ) const

inlineconstexpr

operator()()

template<class T >

constexpr T controlpp::timevar::PT1Control< T >::operator() ( const T &  u, const T &  Ts  )

inlineconstexpr

reset()

template<class T >

constexpr void controlpp::timevar::PT1Control< T >::reset ( )

inlineconstexpr

set_gain()

template<class T >

constexpr void controlpp::timevar::PT1Control< T >::set_gain ( const T &  g )

inlineconstexpr

set_omega()

template<class T >

constexpr void controlpp::timevar::PT1Control< T >::set_omega ( const T &  w )

inlineconstexpr

Friends And Related Symbol Documentation

operator>>

template<class T >

constexpr ValueSampletimePair< T > operator>> ( const ValueSampletimePair< T > &  p, PT1Control< T > &  c  )

friend

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

• include/controlpp/TimeVariantControl.hpp