TeamSurface
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RT2_P3
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Dependencies: mbed
Fork of
RT2_P3_students_G4
by 
RT2_P3_students
PI_Cntrl.cpp@11:67af6d24c588, 2018-04-27 (annotated)
- Committer:
- altb
- Date:
- Fri Apr 27 06:54:18 2018 +0000
- Revision:
- 11:67af6d24c588
- Parent:
- 6:8ed679044a72
- Child:
- 12:e18fdd404660
..
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| altb | 6:8ed679044a72 | 1 | /* |
| altb | 6:8ed679044a72 | 2 | PI Controller class with anti windup reset in biquad transposed direct form 2 |
| altb | 6:8ed679044a72 | 3 | see e.g.: https://www.dsprelated.com/freebooks/filters/Four_Direct_Forms.html |
| altb | 6:8ed679044a72 | 4 | everything is calculated in double |
| altb | 6:8ed679044a72 | 5 | |
| altb | 6:8ed679044a72 | 6 | Tn*s + 1 |
| altb | 6:8ed679044a72 | 7 | G(s) = Kp ------------- with s ~ (1 - z^-1)/Ts |
| altb | 6:8ed679044a72 | 8 | Ts*s |
| altb | 6:8ed679044a72 | 9 | */ |
| altb | 6:8ed679044a72 | 10 | |
| altb | 6:8ed679044a72 | 11 | #include "PI_Cntrl.h" |
| altb | 0:78ca29b4c49e | 12 | |
| altb | 0:78ca29b4c49e | 13 | using namespace std; |