Diff: PT2.h

Revision:

0:3dd7aeceee65

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PT2.h	Thu Jan 22 11:41:02 2015 +0000
@@ -0,0 +1,30 @@
+#ifndef PT2_H
+#define PT2_H
+
+#include "mbed.h"
+
+/** Transfer function of a PT2 form.
+ * G(s) = Y(s) / U(s) = K / ( (1 + T_1 s) * (1 + T_2 s) )
+ *
+ * Author(s): TVZ Mechatronics Team
+ *
+ */
+class PT2 {
+    public:
+        /** Default constructor.
+         * K = 1, T_1 = 1 s, T_2 = 0.5 s, sampleTime = 0.1 s.
+         */
+        PT2();
+        /** PT2 transfer function parameters and sample time in seconds. */
+        PT2(double K, double T_1, double T_2, double sampleTime);
+        /** Update PT2 transfer function parameters and sample time. */
+        void setParameters(double K, double T_1, double T_2, double sampleTime);
+        /** Calculate the output y. */
+        double out();
+        /** Set the input u. */
+        void in(double u);
+    private:
+        double K, T_1, T_2, T_d, a, b, c, d, a_1, a_2, b_1, b_2, y, y_p1, y_p2, u, u_p1, u_p2;
+};
+
+#endif // PT2_H
\ No newline at end of file