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42 lines
961 B
C++
42 lines
961 B
C++
/** A PID controller.
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*
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* @file
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* @author Steffen Vogel <svogel2@eonerc.rwth-aachen.de>
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* @copyright 2014-2022, Institute for Automation of Complex Power Systems, EONERC
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* @license Apache License 2.0
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*********************************************************************************/
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#pragma once
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namespace villas {
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namespace dsp {
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class PID {
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protected:
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double dt;
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double max;
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double min;
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double Kp;
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double Kd;
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double Ki;
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double pre_error;
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double integral;
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public:
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/**
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* Kp - proportional gain
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* Ki - Integral gain
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* Kd - derivative gain
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* dt - loop interval time
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* max - maximum value of manipulated variable
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* min - minimum value of manipulated variable
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*/
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PID(double _dt, double _max, double _min, double _Kp, double _Kd, double _Ki);
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/** Returns the manipulated variable given a setpoint and current process value */
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double calculate(double setpoint, double pv);
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};
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} /* namespace dsp */
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} /* namespace villas */
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