PT2cc.h

00001 #ifndef PT2cc_H
00002 #define PT2cc_H
00003 
00004 #include "mbed.h"
00005 
00006 /** Transfer function of a general PT2 form. cc stands for conjugate-complex.
00007  * G(s) = Y(s) / U(s) = K w_n^2 / ( s^2 + 2 zeta w_n + w_n^2 )
00008  *
00009  * Author(s): TVZ Mechatronics Team
00010  *
00011  */
00012 class PT2cc {
00013     public:
00014         /** Default constructor.
00015          * K = 1, zeta = 0.707, w_n = 1 rad/s, sampleTime = 0.1 s.
00016          */
00017         PT2cc();
00018         /** PT2cc transfer function parameters K, zeta, w_n and sample time in seconds. */
00019         PT2cc(double K, double zeta, double w_n, double sampleTime);
00020         /** Update PT2cc transfer function parameters and sample time. */
00021         void setParameters(double K, double zeta, double w_n, double sampleTime);
00022         /** Calculate the output y. */
00023         double out();
00024         /** Set the input u. */
00025         void in(double u);
00026     private:
00027         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;
00028 };
00029 
00030 #endif // PT2cc_H