control_system::proportional::P< T > Class Template Reference

Proportional controller. More...

#include <p.h>

Public Member Functions
	P ()
	Constructs a proportional controller.
T	get_Kp ()
	Gets the proportional gain.
T	get_u_max ()
	Gets the maximum controller output.
void	init (T Kp_, T u_max_)
	Initializes the proportional controller.
void	reset ()
	Resets the controller.
void	set_Kp (T Kp_)
	Sets the proportional gain.
void	set_param (T Kp_, T u_max_)
	Sets the controller parameters.
void	set_u_max (T u_max_)
	Sets the maximum controller output.
T	update (T x_0, T x)
	Computes the proportional control output.

Private Attributes
T	Kp = 0.0
	Proportional gain.
T	u_max = 9999999999
	Maximum controller output.

Detailed Description

template<typename T>
class control_system::proportional::P< T >

Proportional controller.

The P class implements a proportional controller in which the control output is proportional to the control error.

The controller uses a configurable proportional gain and maximum output limit.

Template Parameters

T	Numeric data type used for the controller.

Example

control_system::proportional::P<double> controller;
 
controller.init(2.0, 100.0);
 
double output = controller.update(reference, measurement);

Definition at line 70 of file p.h.

Constructor & Destructor Documentation

P()

template<typename T>

control_system::proportional::P< T >::P

(

)

Constructs a proportional controller.

Constructs the controller with its parameters initialized to their default values.

Definition at line 5 of file p.h.

Member Function Documentation

get_Kp()

template<typename T>

T control_system::proportional::P< T >::get_Kp

(

)

Gets the proportional gain.

Returns

Proportional gain.

Definition at line 47 of file p.h.

get_u_max()

template<typename T>

T control_system::proportional::P< T >::get_u_max

(

)

Gets the maximum controller output.

Returns

Maximum allowed controller output.

Definition at line 53 of file p.h.

init()

template<typename T>

void control_system::proportional::P< T >::init	(	T	Kp_,
		T	u_max_ )

Initializes the proportional controller.

Parameters

[in]	Kp_	Proportional gain.
[in]	u_max_	Maximum allowed controller output.

Initializes the proportional gain and output limit.

Definition at line 11 of file p.h.

reset()

template<typename T>

void control_system::proportional::P< T >::reset

(

)

Resets the controller.

Resets the controller state to its initial condition.

Definition at line 30 of file p.h.

set_Kp()

template<typename T>

void control_system::proportional::P< T >::set_Kp

(

T

Kp_

)

Sets the proportional gain.

Parameters

[in]

Kp_

Proportional gain.

Definition at line 35 of file p.h.

set_param()

template<typename T>

void control_system::proportional::P< T >::set_param	(	T	Kp_,
		T	u_max_ )

Sets the controller parameters.

Parameters

[in]	Kp_	Proportional gain.
[in]	u_max_	Maximum allowed controller output.

Updates the proportional gain and maximum output limit.

Definition at line 17 of file p.h.

set_u_max()

template<typename T>

void control_system::proportional::P< T >::set_u_max

(

T

u_max_

)

Sets the maximum controller output.

Parameters

[in]

u_max_

Maximum allowed controller output.

Definition at line 41 of file p.h.

update()

template<typename T>

T control_system::proportional::P< T >::update	(	T	x_0,
		T	x )

Computes the proportional control output.

Parameters

[in]	x_0	Reference or desired value.
[in]	x	Current or measured value.

Returns

Proportional control output limited to the configured maximum output.

Definition at line 24 of file p.h.

Member Data Documentation

Kp

template<typename T>

T control_system::proportional::P< T >::Kp = 0.0

private

Proportional gain.

Definition at line 155 of file p.h.

u_max

template<typename T>

T control_system::proportional::P< T >::u_max = 9999999999

private

Maximum controller output.

Defines the upper magnitude limit applied to the controller output.

Definition at line 164 of file p.h.

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

• include/proportional/p.h
• src/proportional/p.tpp