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PI_Cntrl.h
00001 class PI_Cntrl 00002 { 00003 public: 00004 00005 PI_Cntrl(float Kp, float Tn, float Ts); 00006 PI_Cntrl(float Kp, float Tn, float Ts, float uMax); 00007 PI_Cntrl(float Kp, float Tn, float Ts, float uMax, float uMin); 00008 00009 float operator()(float error) { 00010 return doStep((double)error); 00011 } 00012 00013 virtual ~PI_Cntrl(); 00014 00015 void reset(float initValue); 00016 float doStep(double error); 00017 00018 private: 00019 00020 double b0; 00021 double b1; 00022 double b2; 00023 double s; 00024 double uMax; 00025 double uMin; 00026 00027 void setCoefficients(float Kp, float Tn, float Ts); 00028 00029 };
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