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Dependencies:   mbed

Fork of RT2_P3_students_G4 by RT2_P3_students

PI_Cntrl.cpp

Committer:
altb
Date:
2018-04-27
Revision:
11:67af6d24c588
Parent:
6:8ed679044a72
Child:
12:e18fdd404660

File content as of revision 11:67af6d24c588:

/*  
    PI Controller class with anti windup reset in biquad transposed direct form 2
    see e.g.: https://www.dsprelated.com/freebooks/filters/Four_Direct_Forms.html
    everything is calculated in double
    
                  Tn*s + 1                      
      G(s) = Kp -------------  with s ~ (1 - z^-1)/Ts
                    Ts*s                     
*/

#include "PI_Cntrl.h"

using namespace std;