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PT2.h
- Committer:
- tbjazic
- Date:
- 2015-01-22
- Revision:
- 0:3dd7aeceee65
File content as of revision 0:3dd7aeceee65:
#ifndef PT2_H #define PT2_H #include "mbed.h" /** Transfer function of a PT2 form. * G(s) = Y(s) / U(s) = K / ( (1 + T_1 s) * (1 + T_2 s) ) * * Author(s): TVZ Mechatronics Team * */ class PT2 { public: /** Default constructor. * K = 1, T_1 = 1 s, T_2 = 0.5 s, sampleTime = 0.1 s. */ PT2(); /** PT2 transfer function parameters and sample time in seconds. */ PT2(double K, double T_1, double T_2, double sampleTime); /** Update PT2 transfer function parameters and sample time. */ void setParameters(double K, double T_1, double T_2, double sampleTime); /** Calculate the output y. */ double out(); /** Set the input u. */ void in(double u); private: double K, T_1, T_2, T_d, a, b, c, d, a_1, a_2, b_1, b_2, y, y_p1, y_p2, u, u_p1, u_p2; }; #endif // PT2_H