Chun Feng Huang / PID

New PID library with digital anti-windup and process control

Fork of PID_modified by Chun Feng Huang

Diff: PID.h

Revision:
4:e3c9cb64be44
Parent:
3:d8646d8c994f
Child:
5:016c99bb877f
--- a/PID.h	Tue Oct 25 14:19:13 2016 +0000
+++ b/PID.h	Wed Oct 26 17:56:01 2016 +0000
@@ -8,6 +8,12 @@
 
         PID(float Kp_in, float Ki_in, float Kd_in,  float Sampletime_in);   
         void Compute(float reference_in, float feedbackvalue_in);
+        
+        // 
+        void Compute_noWindUP(float reference_in, float feedbackvalue_in);
+        void Saturation_output();
+        void Anti_windup(float delta); // delta_V = Vs - V
+        //
            
         void SetOutputLimits(float setoutputLimits_H, float setoutputLimits_L);
         void SetInputLimits(float setinputLimits_H, float setinputLimits_L); 
@@ -23,7 +29,8 @@
         
         float output;
         float reference;
-
+        float delta_output; // Error by saturating
+        
         float Ts;
 
     private: