test
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PT1.h
- Committer:
- tgw
- Date:
- 2017-11-25
- Revision:
- 2:a45cbb512c99
- Parent:
- 0:3dd7aeceee65
File content as of revision 2:a45cbb512c99:
#ifndef PT1_H #define PT1_H #include "mbed.h" /** Transfer function of a PT1 form. * G(s) = Y(s) / U(s) = K / (1 + T_1 s) * * Author(s): TVZ Mechatronics Team * */ class PT1 { public: /** Default constructor. * K = 1, T_1 = 1, sampleTime = 0.1 */ PT1(); /** PT1 transfer function parameters and sample time in seconds. */ PT1(double K, double T_1, double sampleTime); /** Update PT1 transfer function parameters and sample time. */ void setParameters(double K, double T_1, double sampleTime); /** Calculate the output y. */ double out(); /** Set the input u. */ void in(double u); private: double K, T_1, T_d, a_1, b_1, y, y_p1, u, u_p1; }; #endif // PT1_H