public PidControllerOld(double proportionalGain, double integralGain, double derivativeGain, double integratorMinimumLimit, double integratorMaximumLimit)
: this(
PidControllerExtensions.Gains(proportionalGain, integralGain, derivativeGain),
PidControllerExtensions.IntegratorLimits(integratorMinimumLimit, integratorMaximumLimit)
)
{
}
public double Update(double error, double processVariable)
{
var proportionalTerm = PidControllerExtensions.ProportionalTerm(gains.Proportional, error);
var newPid = pid.IntegratorState
.UpdateIntegratorState(error)
.Clamp(limits)
.PidWithIntegratorState(pid);
var integralTerm = PidControllerExtensions.IntegralTerm(gains.Integral, newPid.IntegratorState);
var derivativeTerm = PidControllerExtensions.DerivativeTerm(gains.Derivative, newPid.PreviousProcessVariable, processVariable);
pid = newPid;
return(proportionalTerm + integralTerm + derivativeTerm);
}
public PidControllerOld(Gains gains, IntegratorLimits limits)
{
this.gains = gains;
this.limits = limits;
pid = PidControllerExtensions.Pid();
}
