PIDController Class Reference

#include <PIDController.h>

Public Member Functions
	PIDController (Mdouble pGain, Mdouble iGain, Mdouble dGain)
Mdouble	apply (Mdouble stressError, Mdouble timeStep)

Private Attributes
Mdouble	pGain
Mdouble	iGain
Mdouble	dGain
Mdouble	iController = 0
bool	filterFlag =true
Mdouble	previousError
Mdouble	filterError

Constructor & Destructor Documentation

PIDController()

PIDController::PIDController ( Mdouble  pGain, Mdouble  iGain, Mdouble  dGain  )

inline

            : pGain(pGain), iGain(iGain),dGain(iGain)
    {}

Member Function Documentation

apply()

Mdouble PIDController::apply	(	Mdouble	stressError,
		Mdouble	timeStep
	)

                                                                   {
 
    Mdouble filterCoefficient = 0.2;
    if (filterFlag==true) {
        filterError = stressError;
        filterFlag=false;
    }
    else {
        filterError = filterCoefficient * filterError +(1-filterCoefficient) * stressError;
    }
 
    // Proportional Controller
    Mdouble pController = pGain * stressError;
 
    //Integral Controller
    iController += iGain * timeStep * stressError;
 
    //Derivative Controller
    Mdouble dController=dGain*(stressError-previousError)/timeStep;
    previousError=stressError;
 
    // Controller Command
    return pController + iController+dController;
}

References dGain, filterError, filterFlag, iController, iGain, pGain, and previousError.

Member Data Documentation

dGain

Mdouble PIDController::dGain

private

Referenced by apply().

filterError

Mdouble PIDController::filterError

private

Referenced by apply().

filterFlag

bool PIDController::filterFlag =true

private

Referenced by apply().

iController

Mdouble PIDController::iController = 0

private

Referenced by apply().

iGain

Mdouble PIDController::iGain

private

Referenced by apply().

pGain

Mdouble PIDController::pGain

private

Referenced by apply().

previousError

Mdouble PIDController::previousError

private

Referenced by apply().

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The documentation for this class was generated from the following files:

• PIDController.h
• PIDController.cc