PIController Class Reference

#include <PIController.h>

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

Private Attributes
Mdouble	pGain
Mdouble	iGain
Mdouble	iController = 0

Constructor & Destructor Documentation

PIController()

PIController::PIController	(	Mdouble	pGain,
		Mdouble	iGain
	)

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

Member Function Documentation

apply()

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

                                                                   {
    // Proportional Controller
    Mdouble pController = pGain * stressError;
 
    //Integral Controller
    iController += iGain * timeStep * stressError;
 
    // Controller Command
    return pController + iController;
}

References iController, iGain, and pGain.

Referenced by ControllerUnitTest::RungeKutta().

Member Data Documentation

iController

Mdouble PIController::iController = 0

private

Referenced by apply().

iGain

Mdouble PIController::iGain

private

Referenced by apply().

pGain

Mdouble PIController::pGain

private

Referenced by apply().

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

• PIController.h
• PIController.cc