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

#include <pid.h>

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

Public Member Functions
	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)

Protected Member Functions
T	control (T e)
Protected Member Functions inherited from control::classic::AbstractController< T >
T	clip (T u)

Protected Attributes
filter::Biquad< T >	B

Additional Inherited Members
Public Attributes inherited from control::classic::AbstractController< T >
T	Limit
bool	clipping = false

Detailed Description

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

Proportional integral derivative controller

Constructor & Destructor Documentation

PID()

template<typename T >

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>()  )

inlineexplicit

Constructor of PID controller

Parameters

Ts	Timestep (s)
Kp	Proportional gain
Ti	Integrator time-constant (s)
Td	Differentiator time-constant (s)
N	Filter coefficicent
Limit	Maximum output

Member Function Documentation

control()

template<typename T >

T control::classic::PID< T >::control ( T  e )

inlineprotectedvirtual

Retrieves the control output, unclipped

Parameters

T	e the error

Returns

T the raw output

Implements control::classic::AbstractController< T >.

poles()

template<typename T >

filter::TCS<T> control::classic::PID< T >::poles ( )

inline

Poles of the PID controller

Returns

control::filter::TCS<T> pair of complex T in tuple

reset()

template<typename T >

void control::classic::PID< T >::reset ( )

inlinevirtual

Reset the state of the controller

Reimplemented from control::classic::AbstractController< T >.

Member Data Documentation

B

template<typename T >

filter::Biquad<T> control::classic::PID< T >::B

protected

Biquad filter

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

• include/control/classic/pid.h