ProportionalIntegral_controller.h

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#ifndef PROPORTIONALINTEGRAL_CONTROLLER_H
#define PROPORTIONALINTEGRAL_CONTROLLER_H
 
#include "Controller.h"
 
class ProportionalIntegralController : public Controller {
public:
    ProportionalIntegralController(const std::string& symbol, const std::vector<double>& value, int number_signals, std::vector<double> refs = { 0 })
        : Controller(symbol, value, number_signals, refs) {
        if (value.size() != 2) {
            throw std::invalid_argument("Controller values must contain at least Kp and Ki.");
        }
        Kp = value[0]; // Proportional gain
        Ki = value[1]; // Integral gain
        zeta = 0.0;    // Default damping ratio
        bandwidth = 0.0; // Default bandwidth
    }
 
    void updateParameters(double newKp, double newKi, double newZeta, double newBandwidth);
 
 
    virtual Eigen::VectorXd define_equations(const Eigen::VectorXd& x, const Eigen::VectorXd& u, const Eigen::VectorXd& c) override;
 
    virtual Eigen::VectorXd define_equations(const double x, const double u, const double c) override;
 
    virtual void printValues() override {
        std::cout << "  Controller type: PI \n"
            << "  Proportional Gain (Kp): " << Kp << "\n"
            << "  Integral Gain (Ki): " << Ki << "\n"
            << "  Damping Ratio (zeta): " << zeta << "\n"
            << "  Bandwidth: " << bandwidth << " Hz\n"
            << "  Reference Values: ";
        for (const auto& ref : reference) {
            std::cout << ref << " ";
        }
        std::cout << std::endl;
    }
    
    double getKp() const {
        return Kp; // Get proportional gain
    }
 
    double getKi() const {
        return Ki; // Get integral gain
    }
 
    double getZeta() const {
        return zeta; // Get damping ratio
    }
 
    double getBandwidth() const {
        return bandwidth; // Get bandwidth
    }
 
    virtual vector<double> getParameters() const override {
        return { Kp, Ki, zeta, bandwidth }; // Return controller parameters
    }
 
    virtual void setParameters(const vector<double>& params) override {
        if (params.size() != 4) {
            throw std::invalid_argument("Parameter vector must contain Kp, Ki, zeta, and bandwidth.");
        }
        Kp = params[0];
        Ki = params[1];
        zeta = params[2];
        bandwidth = params[3];
    }
 
private:
    double Kp;                     // Proportional gain
    double Ki;                     // Integral gain
    double zeta;                   // Damping ratio
    double bandwidth;              // Bandwidth
};
 
#endif // PROPORTIONALINTEGRAL_CONTROLLER_H