Class PrParams

ClassList > PrParams

all parameters to define the proportional resonant controller. More...

• #include <pr.h>

Public Attributes

Type	Name
float32_t	Kp
float32_t	Kr
float32_t	Ts
float32_t	lower_bound
float32_t	phi_prime
float32_t	upper_bound
float32_t	w0

Detailed Description

Date:

2024

Author:

Régis Ruelland [email protected]

Author:

Ayoub Farah Hassan [email protected]

Parameters:

• Ts sample time
• Kp proportional gain
• Kr resonant gain
• w0 pulsation [rad/s]
• phi_prime angle in rad to compensate delays
• lower_bound min value of the output
• upper_bound max value of the output

Public Attributes Documentation

variable Kp

float32_t PrParams::Kp;

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variable Kr

float32_t PrParams::Kr;

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variable Ts

float32_t PrParams::Ts;

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variable lower_bound

float32_t PrParams::lower_bound;

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variable phi_prime

float32_t PrParams::phi_prime;

---

variable upper_bound

float32_t PrParams::upper_bound;

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variable w0

float32_t PrParams::w0;

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