PIController.h

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//
// Created by reza on 04-01-21.
//
 
#ifndef MERCURYDPM_PICONTROLLER_H
#define MERCURYDPM_PICONTROLLER_H
#include "Math/ExtendedMath.h"
 
class PIController {
    Mdouble pGain;
    Mdouble iGain;
    Mdouble iController = 0;
 
public:
// Constructor
    PIController(Mdouble pGain, Mdouble iGain);
    Mdouble  apply (Mdouble stressError, Mdouble timeStep);
};
 
 
#endif //MERCURYDPM_PICONTROLLER_H