A standard PIDController. More...

#include <PIDController.h>

Classes
struct	parameters_t
	Parameters of a PID Controller. More...

struct	setpoint_t
	setpoint for the PID controller More...

Public Member Functions
	PIDController (const parameters_t &parameters=parameters_t(), const setpoint_t &setpoint=setpoint_t())
	default constructor More...

	PIDController (const PIDController &other)
	copy constructor More...

virtual	~PIDController ()
	destructor More...

PIDController *	clone () const
	clone operator More...

void	setInitialState (const SCALAR &state)
	set the initial state More...

void	setDesiredState (const SCALAR &state)
	set the state More...

void	setDesiredState (const SCALAR &state, const SCALAR &stateDerivative)
	set the desired state and derivative More...

SCALAR	computeControl (const SCALAR &state, const Time &t)
	computes the control input based on the current state and time More...

SCALAR	computeControl (const SCALAR &state, const SCALAR &stateDerivative, const Time &t)
	computes the control input More...

void	changeParameters (const parameters_t &parameters)
	change the control parameters More...

parameters_t &	Parameters ()
	returns a reference to the parameters More...

void	reset ()
	resets the controller More...

Protected Attributes
SCALAR	statePrevious_

SCALAR	I_
	the previous state used for finite differences More...

parameters_t	parameters_
	the current I part (integrated) More...

setpoint_t	setpoint_
	the parameters of the PID controller More...

Detailed Description

template<typename SCALAR = double>
class ct::core::PIDController< SCALAR >

A standard PIDController.

Implements a standard PID feedback law with anti wind-up:

$u(x,t) = -k_p (x-x_d) - k_d (\dot{x} - \dot{x}_d) - k_i \int_0^t (x-x_d) dt$

subject to the saturation

$u_{min} \leq u(x,t) \leq u_{max}$

The state derivative $\dot{x}$ can be provided or is computed using finite differences between current and previous state
The anti-windup ensures that the I part stays within fixed boundaries, i.e. saturates

Constructor & Destructor Documentation

◆ PIDController() [1/2]

template<typename SCALAR >

ct::core::PIDController< SCALAR >::PIDController	(	const parameters_t &	parameters = `parameters_t()`,
		const setpoint_t &	setpoint = `setpoint_t()`
	)

default constructor

Initializes setpoints and parameters to their default values

Parameters

parameters	The parameters for the PID controller
setpoint	The setpoint for the PID controller

◆ PIDController() [2/2]

template<typename SCALAR >

ct::core::PIDController< SCALAR >::PIDController ( const PIDController< SCALAR > & other )

copy constructor

◆ ~PIDController()

template<typename SCALAR >

ct::core::PIDController< SCALAR >::~PIDController ( )

virtual

destructor

Member Function Documentation

◆ clone()

template<typename SCALAR >

PIDController< SCALAR > * ct::core::PIDController< SCALAR >::clone ( ) const

clone operator

◆ setInitialState()

template<typename SCALAR >

void ct::core::PIDController< SCALAR >::setInitialState ( const SCALAR & state )

set the initial state

Set the initial state for finite differencing for the D-part

Parameters

state the initial state

References ct::core::PIDController< SCALAR >::statePrevious_.

◆ setDesiredState() [1/2]

template<typename SCALAR >

void ct::core::PIDController< SCALAR >::setDesiredState ( const SCALAR & state )

set the state

Parameters

state The setpoint to set

References ct::core::PIDController< SCALAR >::setpoint_, and ct::core::PIDController< SCALAR >::setpoint_t::stateDesired_.

◆ setDesiredState() [2/2]

template<typename SCALAR >

void ct::core::PIDController< SCALAR >::setDesiredState	(	const SCALAR &	state,
		const SCALAR &	stateDerivative
	)

set the desired state and derivative

Parameters

state	the desired state
stateDerivative	the desired state derivative

References ct::core::PIDController< SCALAR >::setpoint_, ct::core::PIDController< SCALAR >::setpoint_t::stateDerivativeDesired_, and ct::core::PIDController< SCALAR >::setpoint_t::stateDesired_.

◆ computeControl() [1/2]

template<typename SCALAR >

SCALAR ct::core::PIDController< SCALAR >::computeControl	(	const SCALAR &	state,
		const Time &	t
	)

computes the control input based on the current state and time

uses finite-differences for computing the state derivative

Parameters

state	the current state
t	the current time

Returns: the control input

References ct::core::PIDController< SCALAR >::parameters_t::dt, ct::core::PIDController< SCALAR >::I_, ct::core::PIDController< SCALAR >::parameters_t::k_d, ct::core::PIDController< SCALAR >::parameters_t::k_p, ct::core::PIDController< SCALAR >::parameters_, ct::core::PIDController< SCALAR >::setpoint_, ct::core::PIDController< SCALAR >::setpoint_t::stateDerivativeDesired_, ct::core::PIDController< SCALAR >::setpoint_t::stateDesired_, ct::core::PIDController< SCALAR >::statePrevious_, and u.

◆ computeControl() [2/2]

template<typename SCALAR >

SCALAR ct::core::PIDController< SCALAR >::computeControl	(	const SCALAR &	state,
		const SCALAR &	stateDerivative,
		const Time &	t
	)

computes the control input

Parameters

state	the current state
stateDerivative	the current state derivative
t	the current time

Returns: the control input

◆ changeParameters()

template<typename SCALAR = double>

void ct::core::PIDController< SCALAR >::changeParameters ( const parameters_t & parameters )

change the control parameters

Parameters

parameters the new PID controller parameters

References ct::core::PIDController< SCALAR >::parameters_.

◆ Parameters()

template<typename SCALAR >

PIDController< SCALAR >::parameters_t & ct::core::PIDController< SCALAR >::Parameters ( )

returns a reference to the parameters

Changes to the parameters can be directly made through this reference

Returns: reference to the parameters

References ct::core::PIDController< SCALAR >::parameters_.

◆ reset()

template<typename SCALAR >

void ct::core::PIDController< SCALAR >::reset ( )

resets the controller

resets the I part as well as the previous state

References ct::core::PIDController< SCALAR >::parameters_t::dt, ct::core::PIDController< SCALAR >::I_, ct::core::PIDController< SCALAR >::parameters_t::Imax, ct::core::PIDController< SCALAR >::parameters_t::k_i, ct::core::PIDController< SCALAR >::parameters_, and ct::core::PIDController< SCALAR >::statePrevious_.

Member Data Documentation

◆ statePrevious_

template<typename SCALAR = double>

SCALAR ct::core::PIDController< SCALAR >::statePrevious_

protected

Referenced by ct::core::PIDController< SCALAR >::computeControl(), ct::core::PIDController< SCALAR >::reset(), and ct::core::PIDController< SCALAR >::setInitialState().

◆ I_

template<typename SCALAR = double>

SCALAR ct::core::PIDController< SCALAR >::I_

protected

the previous state used for finite differences

Referenced by ct::core::PIDController< SCALAR >::computeControl(), and ct::core::PIDController< SCALAR >::reset().

◆ parameters_

template<typename SCALAR = double>

parameters_t ct::core::PIDController< SCALAR >::parameters_

protected

the current I part (integrated)

Referenced by ct::core::PIDController< SCALAR >::changeParameters(), ct::core::PIDController< SCALAR >::computeControl(), ct::core::PIDController< SCALAR >::Parameters(), and ct::core::PIDController< SCALAR >::reset().

◆ setpoint_

template<typename SCALAR = double>

setpoint_t ct::core::PIDController< SCALAR >::setpoint_

protected

the parameters of the PID controller

Referenced by ct::core::PIDController< SCALAR >::computeControl(), and ct::core::PIDController< SCALAR >::setDesiredState().

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_core/include/ct/core/control/continuous_time/siso/PIDController.h
/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_core/include/ct/core/control/continuous_time/siso/PIDController-impl.h

Classes

Public Member Functions

Protected Attributes

Detailed Description

template<typename SCALAR = double> class ct::core::PIDController< SCALAR >

Constructor & Destructor Documentation

◆ PIDController() [1/2]

◆ PIDController() [2/2]

◆ ~PIDController()

Member Function Documentation

◆ clone()

◆ setInitialState()

◆ setDesiredState() [1/2]

◆ setDesiredState() [2/2]

◆ computeControl() [1/2]

◆ computeControl() [2/2]

◆ changeParameters()

◆ Parameters()

◆ reset()

Member Data Documentation

◆ statePrevious_

◆ I_

◆ parameters_

◆ setpoint_

template<typename SCALAR = double>
class ct::core::PIDController< SCALAR >