ProportionalController Class Reference

Single-gain proportional controller: output = K * (reference - u) + c. More...

#include <Proportional_controller.h>

Inheritance diagram for ProportionalController:

Collaboration diagram for ProportionalController:

Public Member Functions
	ProportionalController (const std::string &symbol, const vector< double > &value, int number_signals, std::vector< double > refs={ 0 })
	Construct a P controller.
virtual Eigen::VectorXd	define_equations (const Eigen::VectorXd &x, const Eigen::VectorXd &u, const Eigen::VectorXd &c) override
	Vector P-controller dynamics.
virtual Eigen::VectorXd	define_equations (const double x, const double u, const double c) override
	Scalar P-controller dynamics.
virtual void	printValues () override
	Print controller type, gain K, and reference values.
double	getK () const
	Return the proportional gain K.
void	setK (double newK)
	Set the proportional gain K.
virtual vector< double >	getParameters () const override
	Return { K }.
virtual void	setParameters (const vector< double > &params) override
	Set K from a single-element parameter vector.
Public Member Functions inherited from Controller
	Controller (const std::string &symbol, const vector< double > &value, int number_signals, std::vector< double > refs={ 0 })
	Construct a controller with reference setpoints.
void	setReference (const std::vector< double > &ref)
	Replace all reference setpoints.
void	setReference (const double ref, int i)
	Set one reference channel.
std::vector< double >	getReference () const
	Return a copy of the current reference vector.
std::string	getControllerSymbol () const
	Return the controller symbol/name.
int	getNumberOfSignals () const
	Return the number of control channels.
virtual	~Controller ()=default

Additional Inherited Members
Protected Attributes inherited from Controller
std::string	controller_symbol
bool	active = false
std::vector< double >	reference

Detailed Description

Single-gain proportional controller: output = K * (reference - u) + c.

Constructor & Destructor Documentation

ProportionalController()

ProportionalController::ProportionalController ( const std::string &  symbol, const vector< double > &  value, int  number_signals, std::vector< double >  refs = { 0 }  )

inline

Construct a P controller.

Parameters

symbol	Controller symbol/name.
value	Gain vector containing Kp (exactly one element).
number_signals	Number of control channels.
refs	Reference values per channel (default zero).

Member Function Documentation

define_equations() [1/2]

Eigen::VectorXd ProportionalController::define_equations ( const double  x, const double  u, const double  c  )

overridevirtual

Scalar P-controller dynamics.

Defines the equations for a scalar P controller.

Parameters

x	Integrator state (unused for pure P).
u	Measured input value.
c	Feed-forward output value.

Returns

Vector containing error state and controller output.

This function computes the error between the reference and input. The returned vector contains the state derivative and controller output.

Parameters

x	Integrator state (scalar).
u	Input (measured) value. Not used in proportional controller.
c	Constant/reference output signal.

Returns

Eigen::VectorXd Vector containing states and controller output.

Reimplemented from Controller.

References Controller::reference.

define_equations() [2/2]

Eigen::VectorXd ProportionalController::define_equations ( const Eigen::VectorXd &  x, const Eigen::VectorXd &  u, const Eigen::VectorXd &  c  )

overridevirtual

Vector P-controller dynamics.

Defines the equations for a vector P controller.

Parameters

x	Integrator state vector (unused for pure P).
u	Measured input vector.
c	Feed-forward output vector.

Returns

Concatenated error states and controller outputs.

This function computes the error between the reference and input. The returned vector concatenates the states and controller outputs.

Parameters

x	Input state vector.
u	Input (measured) vector. Left empty for proportional controller.
c	Constant/reference output signal vector.

Returns

Eigen::VectorXd Concatenated vector of states and controller outputs.

Reimplemented from Controller.

References Controller::reference.

getK()

double ProportionalController::getK ( ) const

inline

Return the proportional gain K.

getParameters()

virtual vector< double > ProportionalController::getParameters ( ) const

inlineoverridevirtual

Return { K }.

Reimplemented from Controller.

printValues()

virtual void ProportionalController::printValues ( )

inlineoverridevirtual

Print controller type, gain K, and reference values.

Reimplemented from Controller.

References Controller::reference.

setK()

void ProportionalController::setK ( double  newK )

inline

Set the proportional gain K.

Parameters

newK	New gain value.

setParameters()

virtual void ProportionalController::setParameters ( const vector< double > &  params )

inlineoverridevirtual

Set K from a single-element parameter vector.

Parameters

params

Vector { K }.

Reimplemented from Controller.

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The documentation for this class was generated from the following files:

• harmony/src/Control/Controller/Proportional_controller.h
• harmony/src/Control/Controller/Proportional_controller.cpp