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Class RST

ClassList > 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

inline RST::RST ()

function calculate

calculate a new command value according to a reference fixed using setReference method and a measuremnt fixed usingsetMeasurement . 

virtual void RST::calculate (
    void
) override

The new command value can be captured using the get_output method.

Implements Controller::calculate

function init

initialize the rst controller 

virtual int8_t RST::init (
    RstParams p
) override

Parameters:

Returns:

0 if ok -EINVAL if not

Implements Controller::init

function reset

virtual void RST::reset (
    void
) override

Implements Controller::reset

The documentation for this class was generated from the following file docs/controlLibrary/src/rst.h