PIDController
This page describes a module in the upcoming version 1.2 of Ikaros and may not be correct for version 1.1
Module that applies PID control independently to each of its inputs.
Example XML definition
A simple example
<module
class = "PIDController"
name = "PIDController"
P = "0.1"
I = "0.1"
D = "0.1"
/>
Parameters
| Name | Description | Type | Default |
|---|---|---|---|
| class | The class name for the module; must be "PIDController". | string | |
| name | The name of this instance of the module. | string | |
| P | The proportional gain | float | 0.1 |
| I | The integral gain | float | 0.1 |
| D | The derivative gain | float | 0.1 |
Module Connections
Inputs
| Name | Description |
|---|---|
| INPUT | The curent signal |
| SETPOINT | The desired value |
Outputs
| Name | Description |
|---|---|
| OUTPUT | The control output. |
| DELTA | The current deviation from the set point. |
Author
Christian Balkenius
christian.balkenius@lucs.lu.se
Lund University Cognitive Science
Files
PIDController.h
PIDController.cc
PIDController.ikc