Boardcore::PIController Class Reference

Proportional and integral controller with saturation. More...

#include <PIController.h>

Public Member Functions
	PIController (float Kp, float Ki, float Ts=1, float uMin=-std::numeric_limits< float >::infinity(), float uMax=std::numeric_limits< float >::infinity())
float	update (float error)
	Update the PI internal state.
float	antiWindUp (float u)
float	antiWindUp (float u, float uMin, float uMax)
	Anti-windup mechanism.
float	getI ()
float	getLastOutput ()
bool	isSaturated ()

Public Attributes
float	Kp
float	Ki
float	Ts
float	uMin
float	uMax

Detailed Description

Proportional and integral controller with saturation.

Definition at line 33 of file PIController.h.

Constructor & Destructor Documentation

PIController()

Boardcore::PIController::PIController ( float  Kp, float  Ki, float  Ts = 1, float  uMin = -std::numeric_limits<float>::infinity(), float  uMax = std::numeric_limits<float>::infinity()  )

inline

Definition at line 36 of file PIController.h.

Member Function Documentation

antiWindUp() [1/2]

float Boardcore::PIController::antiWindUp ( float  u )

inline

Definition at line 57 of file PIController.h.

antiWindUp() [2/2]

float Boardcore::PIController::antiWindUp ( float  u, float  uMin, float  uMax  )

inline

Anti-windup mechanism.

Definition at line 62 of file PIController.h.

getI()

float Boardcore::PIController::getI ( )

inline

Definition at line 82 of file PIController.h.

getLastOutput()

float Boardcore::PIController::getLastOutput ( )

inline

Definition at line 84 of file PIController.h.

isSaturated()

bool Boardcore::PIController::isSaturated ( )

inline

Definition at line 86 of file PIController.h.

update()

float Boardcore::PIController::update ( float  error )

inline

Update the PI internal state.

Definition at line 46 of file PIController.h.

Member Data Documentation

Ki

float Boardcore::PIController::Ki

Definition at line 89 of file PIController.h.

Kp

float Boardcore::PIController::Kp

Definition at line 88 of file PIController.h.

Ts

float Boardcore::PIController::Ts

Definition at line 90 of file PIController.h.

uMax

float Boardcore::PIController::uMax

Definition at line 91 of file PIController.h.

uMin

float Boardcore::PIController::uMin

Definition at line 91 of file PIController.h.

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

• src/shared/algorithms/PIController.h