hidaka sato / PID

Ultimate Gain method

Dependents:   2016_slave_MD_rorikon 2016_slave_MD_rorikon WRS_mechanamu_test

Diff: PID.h

Revision:
4:3ca1603fbcda
Parent:
2:405224725072
Child:
5:6949e401a9ad
diff -r b4a401daed8a -r 3ca1603fbcda PID.h
--- a/PID.h	Thu Aug 18 02:41:53 2016 +0000
+++ b/PID.h	Fri Sep 30 12:31:16 2016 +0000
@@ -7,7 +7,9 @@
     public:
         PID(Timer *T);
         float control(float target, float nowrpm);
+        float PI_lateD(float target, float nowrpm);
         float control_P(float target, float nowrpm, float new_Kp);
+        float control_PI(float target, float nowrpm);
         void set_parameter(float new_Ku, float new_Pu);
         void reset();
 
@@ -25,7 +27,7 @@
         float prev_hensa;
         float nowtime;
         float prev_time;
-        
+        float lateD;
 };
 
 #endif
\ No newline at end of file