Proportional_controller.h

Go to the documentation of this file.

#ifndef PROPORTIONAL_CONTROLLER_H
#define PROPORTIONAL_CONTROLLER_H
 
#include "Controller.h"
 
class ProportionalController : public Controller {
public:
    ProportionalController(const std::string& symbol, const vector<double>& value, int number_signals, std::vector<double> refs = { 0 })
        : Controller(symbol, value, number_signals, refs) {
        if (value.size() != 1) {
            throw std::invalid_argument("Proportional controller values must contain Kp.");
        }
        K = value[0]; // Proportional gain
    }
 
    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: P\n"
            << "  Proportional Gain (K): " << K << "\n"
            << "  Reference Values: ";
        for (const auto& ref : reference) {
            std::cout << ref << " ";
        }
        std::cout << std::endl;
    }
 
    double getK() const {
        return K; // Get proportional gain
    }
 
    void setK(double newK) {
        K = newK; // Set new proportional gain
    }
 
    virtual vector<double> getParameters() const override {
        return { K }; // Return controller parameters
    }
 
    virtual void setParameters(const vector<double>& params) override {
        if (params.size() != 1) {
            throw std::invalid_argument("Parameter vector must contain only K.");
        }
        K = params[0];
    }
 
private:
    double K; // proportional gain
};
 
#endif // PROPORTIONAL_CONTROLLER_H