Class RST
discrete polynomial regulator taking into account saturations. More...
#include <rst.h>
Inherits the following classes: Controller
Public Functions
Type | Name |
---|---|
RST () |
|
virtual void | calculate (void) override calculate a new command value according to a reference fixed using setReference method and a measuremnt fixed usingsetMeasurement . |
virtual int8_t | init (RstParams p) override initialize the rst controller |
virtual void | reset (void) override reset internal states and the last command of the controller. |
Public Functions inherited from Controller
See Controller
Type | Name |
---|---|
virtual void | calculate (void) = 0 calculate a new command value according to a reference fixed using setReference method and a measuremnt fixed usingsetMeasurement . |
virtual outputs_T | calculateWithReturn (refs_T yref, meas_T y) calculate a new command value according the argument values |
virtual outputs_T | getOutput () retrieve the last command value calculated. |
virtual int8_t | init (params_T parameters) = 0 initialize the controller. |
virtual void | reset (void) = 0 reset internal states and the last command of the controller. |
virtual outputs_T | saturate (outputs_T u) limit the argument u betweenupper_bound andlower_bound it is called by thecalculate method. |
virtual void | setMeasurement (meas_T measure) capture a new measurement. |
virtual void | setReference (refs_T reference) capture a new reference. |
Protected Attributes inherited from Controller
See Controller
Type | Name |
---|---|
float32_t | _Ts |
outputs_T | _lower_bound |
meas_T | _measure |
outputs_T | _output |
refs_T | _reference |
outputs_T | _upper_bound |
Detailed Description
It uses 3 Fir : * one on the measurements called R(), * one on the previous command, called S(), * and the last on the reference called T()
It mainly allows to add some filtering action on reference or measurements. and sometimes to add some filtering poles which help stabilisation.
some classical regulators can be implemented by its way like pid and pr.
Public Functions Documentation
function RST
function calculate
calculate a new command value according to a reference fixed using setReference
method and a measuremnt fixed usingsetMeasurement
.
The new command value can be captured using the get_output
method.
Implements Controller::calculate
function init
initialize the rst controller
Parameters:
p
RstParams structure
Returns:
0 if ok -EINVAL if not
Implements Controller::init
function reset
Implements Controller::reset
The documentation for this class was generated from the following file docs/controlLibrary/src/rst.h