control::classic::PD< T > Class Template Reference

#include <pid.h>

Inheritance diagram for control::classic::PD< T >:

Public Member Functions
	PD (T Ts_=1, T Kp_=1, T Td_=0, T N_=max< T >(), T Limit_=max< T >())
Public Member Functions inherited from control::classic::PID< T >
	PID (T Ts=1.0, T Kp=1.0, T Ti=max< T >(), T Td=0.0, T N=max< T >(), T Limit=max< T >())
filter::TCS< T >	poles ()
void	reset ()
Public Member Functions inherited from control::classic::AbstractController< T >
	AbstractController (T Limit_=max< T >())
T	step (T e) final
void	setLimit (T limit)

Additional Inherited Members
Public Attributes inherited from control::classic::AbstractController< T >
T	Limit
bool	clipping = false
Protected Member Functions inherited from control::classic::PID< T >
T	control (T e)
Protected Member Functions inherited from control::classic::AbstractController< T >
T	clip (T u)
Protected Attributes inherited from control::classic::PID< T >
filter::Biquad< T >	B

Detailed Description

template<typename T>
class control::classic::PD< T >

Proportional + Derivative controller

Constructor & Destructor Documentation

PD()

template<typename T >

control::classic::PD< T >::PD ( T  Ts_ = 1, T  Kp_ = 1, T  Td_ = 0, T  N_ = max<T>(), T  Limit_ = max<T>()  )

inlineexplicit

Proportional-derivative controller

Parameters

Ts_	Time-step (s)
Kp_	Proportial gain
Td	Differentiator time-constant (s)
N	Filter coefficicent
Limit_	Maximum output value

---

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

• include/control/classic/pid.h