/// <summary>
/// ADRC implementation utilizing a PD controller in place of a tracking differentiator.
/// </summary>
/// <param name="amplificationCoefficient">R</param>
/// <param name="dampingCoefficient">C</param>
/// <param name="plantCoefficient">B</param>
/// <param name="precisionModifier">H0</param>
/// <param name="kp">P Gain</param>
/// <param name="kd">D Gain</param>
/// <param name="maxOutput">Constrained maximum output</param>
public ADRC_PD(double amplificationCoefficient, double dampingCoefficient, double plantCoefficient, double precisionModifier, double kp, double kd, double maxOutput)
{
this.amplificationCoefficient = amplificationCoefficient;
this.dampingCoefficient = dampingCoefficient;
this.plantCoefficient = plantCoefficient;
this.precisionModifier = precisionModifier;
this.maxOutput = maxOutput;
pid = new PID(kp, 0, kd, maxOutput);
ExtendedStateObserver = new ExtendedStateObserver(false);
NonlinearCombiner = new NonlinearCombiner(amplificationCoefficient, dampingCoefficient);
dateTime = DateTime.Now;
}
/// <summary>
///
/// </summary>
/// <param name="amplificationCoefficient"></param>
/// <param name="dampingCoefficient"></param>
/// <param name="plantCoefficient"></param>
/// <param name="precisionModifier"></param>
/// <param name="maxOutput"></param>
public ADRC_TD(double amplificationCoefficient, double dampingCoefficient, double plantCoefficient, double precisionModifier, double maxOutput)
{
this.amplificationCoefficient = amplificationCoefficient;
this.dampingCoefficient = dampingCoefficient;
this.plantCoefficient = plantCoefficient;
this.precisionModifier = precisionModifier;
this.maxOutput = maxOutput;
TrackingDifferentiator = new TrackingDifferentiator(amplificationCoefficient);
ExtendedStateObserver = new ExtendedStateObserver(false);
NonlinearCombiner = new NonlinearCombiner(amplificationCoefficient, dampingCoefficient);
dateTime = DateTime.Now;
}