Detailed Description

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...

Field Documentation

◆ Kp

float32_t DCL_NLPID_SPS::Kp

Linear proportional gain.

◆ Ki

float32_t DCL_NLPID_SPS::Ki

Linear integral gain.

◆ Kd

float32_t DCL_NLPID_SPS::Kd

Linear derivative gain.

◆ alpha_p

float32_t DCL_NLPID_SPS::alpha_p

P path non-linear exponent, default is 1.

◆ alpha_i

float32_t DCL_NLPID_SPS::alpha_i

I path non-linear exponent, default is 1.

◆ alpha_d

float32_t DCL_NLPID_SPS::alpha_d

D path non-linear exponent, default is 1.

◆ delta_p

float32_t DCL_NLPID_SPS::delta_p

P path linearized range, default is 0.1.

◆ delta_i

float32_t DCL_NLPID_SPS::delta_i

I path linearized range, default is 0.1.

◆ delta_d

float32_t DCL_NLPID_SPS::delta_d

D path linearized range, default is 0.1.

◆ gamma_p

float32_t DCL_NLPID_SPS::gamma_p

P path gain limit, default is 1.

◆ gamma_i

float32_t DCL_NLPID_SPS::gamma_i

I path gain limit, default is 1.

◆ gamma_d

float32_t DCL_NLPID_SPS::gamma_d

D path gain limit, default is 1.

◆ c1

float32_t DCL_NLPID_SPS::c1

D path low-pass filter coefficient 1, default is 1.

◆ c2

float32_t DCL_NLPID_SPS::c2

D path low-pass filter coefficient 2, default is 0.

◆ Umax

float32_t DCL_NLPID_SPS::Umax

Upper saturation limit.

◆ Umin

float32_t DCL_NLPID_SPS::Umin

Lower saturation limit.