Gustavo Gran / Mbed 2 deprecated LQR_No_Integrator_Implicito

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Dependencies:   mbed QEI PTC3471 USBDevice

Diff: main.cpp

Revision:
5:ca75f4b6300c
Parent:
4:0a1ba647bce7
Child:
6:e4b279738a2e
--- a/main.cpp	Fri Aug 30 20:54:15 2019 +0000
+++ b/main.cpp	Fri Oct 04 18:32:31 2019 +0000
@@ -46,16 +46,17 @@
 int phi1_p = 0;
 int u_p = 0;
 
+
 double tau = 5e-2; 
 
 double th0_a = 0;                                                               // Valor de th0 um período de amostragem anterior
 double th1_a = 0;                                                               // Valor de th1 um período de amostragem anterior
 
 float  u=0;
-float K1=-1.494698e-01;
-float K2=-2.820671e+00;
-float K3=-1.629279e-01;
-float K4=-3.205845e-01;
+float K1=-8.379621e-02;
+float K2=-2.866980e+00;
+float K3=-1.458506e-01;
+float K4=-3.332907e-01;
                                                                                 
 void Init(void);                                                                // Função de Inicialização
 void Control_Function(void);                                                    // Função de flag do controle, a ser chamada pela interrupção