test
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DT1.h
- Committer:
- tbjazic
- Date:
- 2015-01-22
- Revision:
- 0:3dd7aeceee65
File content as of revision 0:3dd7aeceee65:
#ifndef DT1_H #define DT1_H #include "mbed.h" /** Transfer function of a DT1 form. * G(s) = Y(s) / U(s) = T_D s / (1 + T_1 s) * * Author(s): TVZ Mechatronics Team * */ class DT1 { public: /** Default constructor. * T_1 = 1, T_D = 0.5, sampleTime = 0.1 */ DT1(); /** DT1 transfer function parameters and sample time in seconds. */ DT1(double T_1, double T_D, double sampleTime); /** Update DT1 transfer function parameters and sample time. */ void setParameters(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 T_1, T_D, T_d, a_1, b_0, b_1; }; #endif // DT1_H