/// <summary>
/// Converting Interactive to Noninteractive Controller Algorithm.
/// Only for P or PI controller.
/// </summary>
/// <param name="ctr">Interactive Controller Algorithm </param>
public void Convert(ControllerInteractive ctr)
{
if (ctr.D == 0)
{
P = ctr.P;
I = ctr.I;
D = 0;
}
}
/// <summary>
/// Converting Interactive to CentumPID Controller Algorithm.
/// </summary>
/// <param name="ctr">Interactive Controller Algorithm </param>
public void Convert(ControllerInteractive ctr)
{
P = 100 * ctr.I / (ctr.P * (ctr.I + ctr.D));
I = ctr.I + ctr.D;
D = ctr.I * ctr.D / (ctr.I + ctr.D);
}
/// <summary>
/// Converting Interactive to Parallel Controller Algorithm.
/// </summary>
/// <param name="ctr">Interactive Controller Algorithm </param>
public void InterToParallelr(ControllerInteractive ctr)
{
P = ctr.P * (1 + ctr.D / ctr.I);
I = ctr.P / ctr.I;
D = ctr.P * ctr.D;
}
/// <summary>
/// Converting Interactive to Noninteractive Controller Algorithm.
/// </summary>
/// <param name="ctr">Interactive Controller Algorithm </param>
public void Convert(ControllerInteractive ctr)
{
P = ctr.P * (1 + ctr.D / ctr.I);
I = ctr.I + ctr.D;
D = ctr.I * ctr.D / (ctr.I + ctr.D);
}
