Diff: PDT1.h

Revision:

0:3dd7aeceee65

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PDT1.h	Thu Jan 22 11:41:02 2015 +0000
@@ -0,0 +1,32 @@
+#ifndef PDT1_H
+#define PDT1_H
+
+#include "mbed.h"
+
+/** Transfer function of a PDT1 form.
+ * G(s) = Y(s) / U(s) = K * (1 + T_D s) / (1 + T_1 s)
+ *
+ * Author(s): TVZ Mechatronics Team
+ *
+ */
+class PDT1 {
+    public:
+        /** Default constructor. 
+         * K = 1, T_1 = 1, T_D = 0.5, sampleTime = 0.1
+         */
+        PDT1();
+        /** PDT1 transfer function parameters and sample time in seconds. */
+        PDT1(double K, double T_1, double T_D, double sampleTime);
+        /** Update PDT1 transfer function parameters and sample time. */
+        void setParameters(double K, double T_1, double T_D, double sampleTime);
+        /** Calculate the output y. */
+        double out();
+        /** Set the input u. */
+        void in(double u);
+    private:
+        double y, y_p1;
+        double u, u_p1;
+        double K, T_1, T_D, T_d, a_1, b_0, b_1;
+};
+
+#endif // PDT1_H
\ No newline at end of file