PT1_Controller.h

00001 #ifndef PT1_Controller_
00002 #define PT1_Controller_
00003 
00004 #include <mbed.h>
00005 
00006 class PT1_Controller
00007 {
00008 public:
00009 
00010     PT1_Controller(double Kp, double Ts, double Tf);
00011     PT1_Controller(double Kp, double Ts, double Tf, double u_max);
00012     PT1_Controller(double Kp, double Ts, double Tf, double u_max, double u_min);
00013 
00014     virtual ~PT1_Controller();
00015     
00016     void   reset();
00017     void   reset(double setVal);
00018     double update(double error);
00019     
00020 private:
00021 
00022     double Kp, Ts, Tf;
00023     
00024     double u_max, u_min;
00025     
00026     double af, bf;
00027     double u_kmin1, uf_k;
00028     
00029     void   copyControllerPara(double Kp, double Ts, double Tf);
00030     void   calcFilterCoeff();
00031     double saturate(double u);
00032     
00033 };
00034 
00035 #endif