I-PDcontroller.hh

[詳解]

 
//
// Copyright (C) 2011-2020 Yuki YOKOKURA
// This program is free software;
// you can redistribute it and/or modify it under the terms of the FreeBSD License.
// For details, see the License.txt file.
 
#ifndef I_PDCONTROLLER
#define I_PDCONTROLLER
 
#include "Matrix.hh"
 
namespace ARCS {    // ARCS名前空間
    class I_PDcontroller {
        public:
            I_PDcontroller(double Igain, double Pgain, double Dgain, double Bandwidth, double SmplTime);    
            ~I_PDcontroller();  
            double GetSignal(double ref, double res);
            void SetIgain(double Igain);    
            void SetPgain(double Pgain);    
            void SetDgain(double Dgain);    
            void SetBandwidth(double Bandwidth);    
            
        private:
            I_PDcontroller(const I_PDcontroller&) = delete;                 
            const I_PDcontroller& operator=(const I_PDcontroller&) = delete;
            double Ki;  
            double Kp;  
            double Kd;  
            double g;   
            double Ts;  
            Matrix<2,2> Ac;     
            Matrix<2,2> Bc;     
            Matrix<2,2> Ad;     
            Matrix<2,2> Bd;     
            Matrix<2,1> c;      
            Matrix<2,1> d;      
            Matrix<1,2> u;      
            Matrix<1,2> x;      
            Matrix<1,2> x_next; 
            Matrix<1,1> y;      
    };
}
 
#endif