/// <summary>
/// Calculates the output given the target value and actual value.
/// </summary>
/// <param name="setpoint">Target</param>
/// <param name="processVariable">Actual</param>
/// <returns></returns>
public double Calculate(double setpoint, double processVariable)
{
//samplingPeriod = DateTime.Now.Subtract(dateTime).TotalSeconds + 0.08;
samplingPeriod = 0.1;
if (samplingPeriod > 0)
{
precisionCoefficient = samplingPeriod * precisionModifier;
Tuple <double, double> td = TrackingDifferentiator.Track(setpoint, samplingPeriod); //double input
Tuple <double, double, double> eso = ExtendedStateObserver.ObserveState(samplingPeriod, output, plantCoefficient, processVariable); //double u, double y, double b0
output = NonlinearCombiner.Combine(td, plantCoefficient, eso, precisionCoefficient);
dateTime = DateTime.Now;
}
return(MathFunctions.Constrain(output, -maxOutput, maxOutput));
}
/// <summary>
/// Calculates the output given the target value and actual value.
/// </summary>
/// <param name="setpoint">Target</param>
/// <param name="processVariable">Actual</param>
/// <returns></returns>
public double Calculate(double setpoint, double processVariable)
{
samplingPeriod = DateTime.Now.Subtract(dateTime).TotalSeconds;
if (samplingPeriod > 0)
{
precisionCoefficient = samplingPeriod * precisionModifier;
double pdValue = pid.Calculate(setpoint, processVariable, samplingPeriod);
Tuple <double, double> pd = new Tuple <double, double>(pdValue, previousPD);
Tuple <double, double, double> eso = ExtendedStateObserver.ObserveState(samplingPeriod, output, plantCoefficient, processVariable);//double u, double y, double b0
output = NonlinearCombiner.Combine(pd, plantCoefficient, eso, precisionCoefficient);
previousPD = pdValue;
dateTime = DateTime.Now;
}
return(MathFunctions.Constrain(output, -maxOutput, maxOutput));
}
