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Dependencies: mbed QEI MPU6050_2 BLE_API nRF51822 MCP4725 eMPL_MPU6050
PID_Cntrl.cpp@16:762867ba6aaa, 2020-05-29 (annotated)
- Committer:
- BoulusAJ
- Date:
- Fri May 29 15:41:58 2020 +0000
- Revision:
- 16:762867ba6aaa
- Parent:
- 0:8e87cdf07037
Version May 29, 2020
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| BoulusAJ | 0:8e87cdf07037 | 1 | /* |
| BoulusAJ | 0:8e87cdf07037 | 2 | PI Controller class with anti windup reset in biquad transposed direct form 2 |
| BoulusAJ | 0:8e87cdf07037 | 3 | see e.g.: https://www.dsprelated.com/freebooks/filters/Four_Direct_Forms.html |
| BoulusAJ | 0:8e87cdf07037 | 4 | everything is calculated in double |
| BoulusAJ | 0:8e87cdf07037 | 5 | |
| BoulusAJ | 0:8e87cdf07037 | 6 | Tn*s + 1 |
| BoulusAJ | 0:8e87cdf07037 | 7 | G(s) = Kp ------------- with s ~ (1 - z^-1)/Ts |
| BoulusAJ | 16:762867ba6aaa | 8 | Ts*s |
| BoulusAJ | 0:8e87cdf07037 | 9 | */ |
| BoulusAJ | 0:8e87cdf07037 | 10 | |
| BoulusAJ | 0:8e87cdf07037 | 11 | #include "PID_Cntrl.h" |
| BoulusAJ | 16:762867ba6aaa | 12 | |
| BoulusAJ | 0:8e87cdf07037 | 13 | using namespace std; |