Discrete-time proportional-integral controller. More...

#include <pi.h>

Public Member Functions
	PI ()
	Constructs a PI controller.
T	get_dt ()
	Gets the controller sampling time.
T	get_Ki ()
	Gets the integral gain.
T	get_Kp ()
	Gets the proportional gain.
T	get_u_k_1 ()
	Gets the previous controller output.
T	get_u_max ()
	Gets the maximum controller output.
void	init (T dt_, T Kp_, T Ki_, T u_k_1_, T u_max_)
	Initializes the PI controller.
void	merge (T u_k_1_)
	Merges an external controller output into the PI state.
void	reset ()
	Resets the PI controller state.
void	set_dt (T dt_)
	Sets the controller sampling time.
void	set_Ki (T Ki_)
	Sets the integral gain.
void	set_Kp (T Kp_)
	Sets the proportional gain.
void	set_param (T dt_, T Kp_, T Ki_, T u_k_1_, T u_max_)
	Sets the PI controller parameters.
void	set_u_0 (T u_k_1_)
	Sets the previous controller output.
void	set_u_max (T u_max_)
	Sets the maximum controller output.
T	update (T x_0, T x)
	Computes the PI control output.

Private Attributes
T	dt = 0.0
	Controller sampling time.
T	e_k_1 = 0.0
	Previous control error.
T	Ki = 0.0
	Integral gain.
T	Kp = 0.0
	Proportional gain.
bool	start = true
	Controller startup state.
T	u_k_1 = 0.0
	Previous controller output.
T	u_max = 9999999999
	Maximum controller output.

Detailed Description

template<typename T>
class control_system::pi::PI< T >

Discrete-time proportional-integral controller.

The PI class implements a discrete-time proportional-integral controller using configurable proportional and integral gains.

The controller uses the sampling time for its discrete-time integral action and maintains the previous control error and controller output as internal state.

Template Parameters

T	Numeric data type used for the controller.

Example: control_system::pi::PI<double> controller;

controller.init(

0.001,

Kp,

Ki,

0.0,

100.0

);

double output = controller.update(reference, measurement);

control_system::pi::PI
Discrete-time proportional-integral controller.
Definition pi.h:77

control_system::pi::PI::update
T update(T x_0, T x)
Computes the PI control output.
Definition pi.h:33

control_system::pi::PI::Ki
T Ki
Integral gain.
Definition pi.h:259

control_system::pi::PI::init
void init(T dt_, T Kp_, T Ki_, T u_k_1_, T u_max_)
Initializes the PI controller.
Definition pi.h:16

control_system::pi::PI::Kp
T Kp
Proportional gain.
Definition pi.h:254

Definition at line 76 of file pi.h.

Constructor & Destructor Documentation

◆ PI()

template<typename T>

control_system::pi::PI< T >::PI ( )

Constructs a PI controller.

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

Definition at line 5 of file pi.h.

Member Function Documentation

◆ get_dt()

template<typename T>

T control_system::pi::PI< T >::get_dt ( )

Gets the controller sampling time.

Returns: Sampling time in seconds.

Definition at line 97 of file pi.h.

◆ get_Ki()

template<typename T>

T control_system::pi::PI< T >::get_Ki ( )

Gets the integral gain.

Returns: Integral gain.

Definition at line 109 of file pi.h.

◆ get_Kp()

template<typename T>

T control_system::pi::PI< T >::get_Kp ( )

Gets the proportional gain.

Returns: Proportional gain.

Definition at line 103 of file pi.h.

◆ get_u_k_1()

template<typename T>

T control_system::pi::PI< T >::get_u_k_1 ( )

Gets the previous controller output.

Returns: Previous controller output.

Definition at line 115 of file pi.h.

◆ get_u_max()

template<typename T>

T control_system::pi::PI< T >::get_u_max ( )

Gets the maximum controller output.

Returns: Maximum allowed controller output.

Definition at line 121 of file pi.h.

◆ init()

template<typename T>

void control_system::pi::PI< T >::init	(	T	dt_,
		T	Kp_,
		T	Ki_,
		T	u_k_1_,
		T	u_max_ )

Initializes the PI controller.

Parameters

[in]	dt_	Controller sampling time in seconds.
[in]	Kp_	Proportional gain.
[in]	Ki_	Integral gain.
[in]	u_k_1_	Previous controller output.
[in]	u_max_	Maximum allowed controller output.

Initializes the controller sampling time, proportional and integral gains, previous controller output, and output limit.

Definition at line 16 of file pi.h.

◆ merge()

template<typename T>

void control_system::pi::PI< T >::merge ( T u_k_1_ )

Merges an external controller output into the PI state.

Parameters

[in] u_k_1_ Previous or externally provided controller output.

Updates the internal previous-output state using the specified controller output.

Definition at line 61 of file pi.h.

◆ reset()

template<typename T>

void control_system::pi::PI< T >::reset ( )

Resets the PI controller state.

Resets the stored previous control error, previous controller output, and startup state.

Definition at line 53 of file pi.h.

◆ set_dt()

template<typename T>

void control_system::pi::PI< T >::set_dt ( T dt_ )

Sets the controller sampling time.

Parameters

[in] dt_ Sampling time in seconds.

Definition at line 67 of file pi.h.

◆ set_Ki()

template<typename T>

void control_system::pi::PI< T >::set_Ki ( T Ki_ )

Sets the integral gain.

Parameters

[in] Ki_ Integral gain.

Definition at line 79 of file pi.h.

◆ set_Kp()

template<typename T>

void control_system::pi::PI< T >::set_Kp ( T Kp_ )

Sets the proportional gain.

Parameters

[in] Kp_ Proportional gain.

Definition at line 73 of file pi.h.

◆ set_param()

template<typename T>

void control_system::pi::PI< T >::set_param	(	T	dt_,
		T	Kp_,
		T	Ki_,
		T	u_k_1_,
		T	u_max_ )

Sets the PI controller parameters.

Parameters

[in]	dt_	Controller sampling time in seconds.
[in]	Kp_	Proportional gain.
[in]	Ki_	Integral gain.
[in]	u_k_1_	Previous controller output.
[in]	u_max_	Maximum allowed controller output.

Updates the controller sampling time, gains, previous controller output, and maximum output limit.

Definition at line 23 of file pi.h.

◆ set_u_0()

template<typename T>

void control_system::pi::PI< T >::set_u_0 ( T u_k_1_ )

Sets the previous controller output.

Parameters

[in] u_k_1_ Previous controller output.

Definition at line 85 of file pi.h.

◆ set_u_max()

template<typename T>

void control_system::pi::PI< T >::set_u_max ( T u_max_ )

Sets the maximum controller output.

Parameters

[in] u_max_ Maximum allowed controller output.

Definition at line 91 of file pi.h.

◆ update()

template<typename T>

T control_system::pi::PI< T >::update	(	T	x_0,
		T	x )

Computes the PI control output.

Parameters

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

Returns: PI controller output limited by the configured maximum output.

Calculates the proportional and integral contributions using the current control error and the stored controller state.

Definition at line 33 of file pi.h.

Member Data Documentation

◆ dt

template<typename T>

T control_system::pi::PI< T >::dt = 0.0

private

Controller sampling time.

Sampling period of the discrete-time PI controller in seconds.

Definition at line 233 of file pi.h.

◆ e_k_1

template<typename T>

T control_system::pi::PI< T >::e_k_1 = 0.0

private

Previous control error.

Stores the control error from the previous iteration.

Definition at line 249 of file pi.h.

◆ Ki

template<typename T>

T control_system::pi::PI< T >::Ki = 0.0

private

Integral gain.

Definition at line 259 of file pi.h.

◆ Kp

template<typename T>

T control_system::pi::PI< T >::Kp = 0.0

private

Proportional gain.

Definition at line 254 of file pi.h.

◆ start

template<typename T>

bool control_system::pi::PI< T >::start = true

private

Controller startup state.

Indicates whether the controller is in its startup state.

Definition at line 276 of file pi.h.

◆ u_k_1

template<typename T>

T control_system::pi::PI< T >::u_k_1 = 0.0

private

Previous controller output.

Stores the controller output from the previous iteration.

Definition at line 241 of file pi.h.

◆ u_max

template<typename T>

T control_system::pi::PI< T >::u_max = 9999999999

private

Maximum controller output.

Defines the maximum allowed magnitude of the controller output.

Definition at line 268 of file pi.h.

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

include/pi/pi.h
src/pi/pi.tpp

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ PI()

Member Function Documentation

◆ get_dt()

◆ get_Ki()

◆ get_Kp()

◆ get_u_k_1()

◆ get_u_max()

◆ init()

◆ merge()

◆ reset()

◆ set_dt()

◆ set_Ki()

◆ set_Kp()

◆ set_param()

◆ set_u_0()

◆ set_u_max()

◆ update()

Member Data Documentation

◆ dt

◆ e_k_1

◆ Ki

◆ Kp

◆ start

◆ u_k_1

◆ u_max