Diff: PT2cc.h

Revision:

0:3dd7aeceee65

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PT2cc.h	Thu Jan 22 11:41:02 2015 +0000
@@ -0,0 +1,30 @@
+#ifndef PT2cc_H
+#define PT2cc_H
+
+#include "mbed.h"
+
+/** Transfer function of a general PT2 form. cc stands for conjugate-complex.
+ * G(s) = Y(s) / U(s) = K w_n^2 / ( s^2 + 2 zeta w_n + w_n^2 )
+ *
+ * Author(s): TVZ Mechatronics Team
+ *
+ */
+class PT2cc {
+    public:
+        /** Default constructor.
+         * K = 1, zeta = 0.707, w_n = 1 rad/s, sampleTime = 0.1 s.
+         */
+        PT2cc();
+        /** PT2cc transfer function parameters K, zeta, w_n and sample time in seconds. */
+        PT2cc(double K, double zeta, double w_n, double sampleTime);
+        /** Update PT2cc transfer function parameters and sample time. */
+        void setParameters(double K, double zeta, double w_n, double sampleTime);
+        /** Calculate the output y. */
+        double out();
+        /** Set the input u. */
+        void in(double u);
+    private:
+        double K, zeta, w_n, T_d, a, b, c, d, e, a_1, a_2, b_1, b_2, y, y_p1, y_p2, u, u_p1, u_p2;
+};
+
+#endif // PT2cc_H
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