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Class PID

Class PID#

Defined in Program listing for file control/src/Controller/PID.hpp

class PID : public Actuator#

Public Functions

PID(SP::ControlSensor sensor, SP::SimpleMatrix B = std::shared_ptr<SimpleMatrix>())#

Constructor.

Parameters:
virtual ~PID()#

destructor

virtual void initialize(const NonSmoothDynamicalSystem &nsds, const Simulation &s)#

initialize actuator data.

Parameters:

  • nsds – a NonSmoothDynamicalSystem

  • s – the simulation

virtual void actuate()#

Compute the new control law at each event Here we are using the following formula: \( u_k = u_{k-1} + c_1 e_k + c_2 e_{k-1} + c_3 e_{k-2} \) , where.

\[\begin{split} c_1 &= K_P - \frac{K_D}{\Delta t} + K_I \Delta t \\ c_2 &= -1 - \frac{2K_D}{\Delta t} \\ c_3 &= \frac{K_D}{\Delta t} \end{split}\]

void setK(SP::SiconosVector K)#

Set K.

Parameters:

K – SP::SiconosVector \( [K_P, K_I, K_D] \)

inline void setRef(double reference)#

Set the value of _ref to reference.

Parameters:

reference – the new value

virtual void setTimeDiscretisation(const TimeDiscretisation &td)#

Get the timestep from the TimeDiscretisation associated with this PID controller.

Parameters:

td – the TimeDiscretisation for this Actuator

virtual void display() const#

display the data of the Actuator on the standard output

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