Defines the shadow DCL_NLPID controller structure.
Data Fields | |
float32_t | Kp |
Linear proportional gain. More... | |
float32_t | Ki |
Linear integral gain. More... | |
float32_t | Kd |
Linear derivative gain. More... | |
float32_t | alpha_p |
P path non-linear exponent, default is 1. More... | |
float32_t | alpha_i |
I path non-linear exponent, default is 1. More... | |
float32_t | alpha_d |
D path non-linear exponent, default is 1. More... | |
float32_t | delta_p |
P path linearized range, default is 0.1. More... | |
float32_t | delta_i |
I path linearized range, default is 0.1. More... | |
float32_t | delta_d |
D path linearized range, default is 0.1. More... | |
float32_t | gamma_p |
P path gain limit, default is 1. More... | |
float32_t | gamma_i |
I path gain limit, default is 1. More... | |
float32_t | gamma_d |
D path gain limit, default is 1. More... | |
float32_t | c1 |
D path low-pass filter coefficient 1, default is 1. More... | |
float32_t | c2 |
D path low-pass filter coefficient 2, default is 0. More... | |
float32_t | Umax |
Upper saturation limit. More... | |
float32_t | Umin |
Lower saturation limit. More... | |
float32_t DCL_NLPID_SPS::Kp |
Linear proportional gain.
float32_t DCL_NLPID_SPS::Ki |
Linear integral gain.
float32_t DCL_NLPID_SPS::Kd |
Linear derivative gain.
float32_t DCL_NLPID_SPS::alpha_p |
P path non-linear exponent, default is 1.
float32_t DCL_NLPID_SPS::alpha_i |
I path non-linear exponent, default is 1.
float32_t DCL_NLPID_SPS::alpha_d |
D path non-linear exponent, default is 1.
float32_t DCL_NLPID_SPS::delta_p |
P path linearized range, default is 0.1.
float32_t DCL_NLPID_SPS::delta_i |
I path linearized range, default is 0.1.
float32_t DCL_NLPID_SPS::delta_d |
D path linearized range, default is 0.1.
float32_t DCL_NLPID_SPS::gamma_p |
P path gain limit, default is 1.
float32_t DCL_NLPID_SPS::gamma_i |
I path gain limit, default is 1.
float32_t DCL_NLPID_SPS::gamma_d |
D path gain limit, default is 1.
float32_t DCL_NLPID_SPS::c1 |
D path low-pass filter coefficient 1, default is 1.
float32_t DCL_NLPID_SPS::c2 |
D path low-pass filter coefficient 2, default is 0.
float32_t DCL_NLPID_SPS::Umax |
Upper saturation limit.
float32_t DCL_NLPID_SPS::Umin |
Lower saturation limit.