ProportionalIntegralController Class Reference

PI controller with optional damping and bandwidth metadata. More...

#include <ProportionalIntegral_controller.h>

Inheritance diagram for ProportionalIntegralController:

Collaboration diagram for ProportionalIntegralController:

Public Member Functions
	ProportionalIntegralController (const std::string &symbol, const std::vector< double > &value, int number_signals, std::vector< double > refs={ 0 })
	Construct a PI controller.
void	updateParameters (double newKp, double newKi, double newZeta, double newBandwidth)
	Replace Kp, Ki, damping ratio, and bandwidth.
virtual Eigen::VectorXd	define_equations (const Eigen::VectorXd &x, const Eigen::VectorXd &u, const Eigen::VectorXd &c) override
	Vector PI-controller dynamics.
virtual Eigen::VectorXd	define_equations (const double x, const double u, const double c) override
	Scalar PI-controller dynamics.
virtual void	printValues () override
	Print controller type, gains, damping, bandwidth, and references.
double	getKp () const
	Return the proportional gain Kp.
double	getKi () const
	Return the integral gain Ki.
double	getZeta () const
	Return the damping ratio.
double	getBandwidth () const
	Return the bandwidth (Hz).
virtual vector< double >	getParameters () const override
	Return { Kp, Ki, zeta, bandwidth }.
virtual void	setParameters (const vector< double > &params) override
	Set parameters from { Kp, Ki, zeta, bandwidth }.
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

PI controller with optional damping and bandwidth metadata.

Output per channel: Kp * error + Ki * integrator_state + c.

Constructor & Destructor Documentation

ProportionalIntegralController()

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

inline

Construct a PI controller.

Parameters

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

Member Function Documentation

define_equations() [1/2]

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

overridevirtual

Scalar PI-controller dynamics.

Defines the differential equations for a scalar PI controller.

Parameters

x	Integrator state.
u	Measured input value.
c	Feed-forward output value.

Returns

Vector containing state derivative and controller output.

This function computes the error between the reference and input, updates the integrator state, and calculates the PI controller output. The returned vector contains the state derivative and controller output.

Parameters

x	Integrator state (scalar).
u	Input (measured) value.
c	Constant/reference output signal.

Returns

Eigen::VectorXd Vector containing state derivative and controller output.

Reimplemented from Controller.

References Controller::reference.

define_equations() [2/2]

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

overridevirtual

Vector PI-controller dynamics.

Defines the differential equations for a vector PI controller.

Parameters

x	Integrator state vector.
u	Measured input vector.
c	Feed-forward output vector.

Returns

Concatenated state derivatives and controller outputs.

This function computes the error between the reference and input, updates the integrator state, and calculates the PI controller output for each channel. The returned vector concatenates the state derivatives and controller outputs.

Parameters

x	Integrator state vector.
u	Input (measured) vector.
c	Constant/reference output signal vector.

Returns

Eigen::VectorXd Concatenated vector of state derivatives and controller outputs.

Reimplemented from Controller.

References Controller::reference.

getBandwidth()

double ProportionalIntegralController::getBandwidth ( ) const

inline

Return the bandwidth (Hz).

getKi()

double ProportionalIntegralController::getKi ( ) const

inline

Return the integral gain Ki.

getKp()

double ProportionalIntegralController::getKp ( ) const

inline

Return the proportional gain Kp.

getParameters()

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

inlineoverridevirtual

Return { Kp, Ki, zeta, bandwidth }.

Reimplemented from Controller.

getZeta()

double ProportionalIntegralController::getZeta ( ) const

inline

Return the damping ratio.

printValues()

virtual void ProportionalIntegralController::printValues ( )

inlineoverridevirtual

Print controller type, gains, damping, bandwidth, and references.

Reimplemented from Controller.

References Controller::reference.

setParameters()

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

inlineoverridevirtual

Set parameters from { Kp, Ki, zeta, bandwidth }.

Parameters

params

Four-element parameter vector.

Reimplemented from Controller.

updateParameters()

void ProportionalIntegralController::updateParameters	(	double	newKp,
		double	newKi,
		double	newZeta,
		double	newBandwidth
	)

Replace Kp, Ki, damping ratio, and bandwidth.

Update controller parameters (if dynamic change is needed).

Parameters

newKp	New proportional gain.
newKi	New integral gain.
newZeta	New damping ratio.
newBandwidth	New bandwidth (Hz).

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

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