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PT2cc.h
- Committer:
- tgw
- Date:
- 2017-11-25
- Revision:
- 2:a45cbb512c99
- Parent:
- 0:3dd7aeceee65
File content as of revision 2:a45cbb512c99:
#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