discrete-lib.h File Reference

Discrete Control Law Implementation Library Header. More...

#include <float.h>

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Data Structures
struct	Biquad
	Biquad. More...
struct	Integrator
	Control Block: Integrator. More...
struct	Differentiator
	Control Block: Differentiator. More...

Macros
#define	POS_INF   DBL_MAX
	Positive Infinity.
#define	NEG_INF   (-DBL_MAX)
	Negative Infinity.

Typedefs
typedef float	Proportional
	Control Block: Proportion.

Functions
void	IntegratorInit (Proportional gain, double timestep, Integrator *result)
void	DifferentiatorInit (Proportional gain, double timestep, Differentiator *result)
double	Cascade (double input, Biquad sys[], int size, double lower_lim, double upper_lim)
double	Integrate (double input, Integrator *term, double lower_lim, double upper_lim)
double	Differentiate (double input, Differentiator *term, double lower_lim, double upper_lim)
double	PID (double input, Proportional *p, Integrator *i, Differentiator *d, double lower_lim, double upper_lim)

Detailed Description

Discrete Control Law Implementation Library Header.

Author

Anti-Sway Team: Nguyen, Tri; Espinola, Malachi; Tevy, Vattanary; Hokenstad, Ethan; Neff, Callen)

Version

0.1

Date

2024-06-03

Copyright

Copyright (c) 2024

Typedef Documentation

Proportional

typedef float Proportional

Control Block: Proportion.

A proportional constant

Function Documentation

Cascade()

double Cascade ( double input, Biquad sys[], int size, double lower_lim, double upper_lim )

inline

Executes a dynamic, discrete time system by using its biquad decomposition.

Parameters

input	The input to the system
sys	The system, as an array of biquads
size	The size of sys
lower_lim	The lower saturation limit of the system
upper_lim	The upper saturation limit of the system

Returns

The output of the system given the input

Precondition

The input is the next sampled value of the input to the system

Postcondition

The system is updated with current/past calculated values

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Differentiate()

double Differentiate ( double input, Differentiator * term, double lower_lim, double upper_lim )

inline

Timesteps a Differentiation

Parameters

input	The input to the differentiator
term	A pointer to an differentiator term
lower_lim	The lower saturation limit of the system
upper_lim	The upper saturation limit of the system

Returns

The output of the differentiator given the input

Precondition

The input is the next sampled value of the input to the system

Postcondition

term is updated with current/past calculated values

DifferentiatorInit()

void DifferentiatorInit	(	Proportional	gain,
		double	timestep,
		Differentiator *	result )

Initializes a Differentiator

Parameters

gain	The gain to assign the differentiator
timestep	The timestep to approximate the differentiator
result	A return parameter, which becomes the differentiator with the gain and timestep

Returns

result, which will be an differentiator with a gain gain, and the timestep

Integrate()

double Integrate ( double input, Integrator * term, double lower_lim, double upper_lim )

inline

Timesteps an Integration

Parameters

input	The input to the integrator
term	A pointer to an integrator term
lower_lim	The lower saturation limit of the system
upper_lim	The upper saturation limit of the system

Returns

The output of the integrator given the input

Precondition

The input is the next sampled value of the input to the system

Postcondition

term is updated with current/past calculated values

IntegratorInit()

void IntegratorInit	(	Proportional	gain,
		double	timestep,
		Integrator *	result )

Initializes an Integrator

Parameters

gain	The gain to assign the integrator
timestep	The timestep to approximate the integrator
result	A return parameter, which becomes the integrator with the gain and timestep

Returns

result, which will be an integrator with a gain gain, and the timestep

PID()

double PID ( double input, Proportional * p, Integrator * i, Differentiator * d, double lower_lim, double upper_lim )

inline

Timesteps a PID Controller

Parameters

input	The input to the PID Controller
p	A pointer to the proportional term
i	A pointer to the integrator term
d	A pointer to the differentiator term
lower_lim	The lower saturation limit of the system
upper_lim	The upper saturation limit of the system

Returns

The output of the PID Controller given the input

Precondition

The input is the next sampled value of the input to all non-NULL Control Blocks

If p, i or d is NULL, then those NULL terms don't contribute

if p, i and d are all NULL, then the output is 0.0

Postcondition

i and d are updated with current/past calculated values

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