pid_neuro.h File Reference

single neuron proportional integral derivative controller More...

#include "pid.h"

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Data Structures
struct	a_pid_neuro
	instance structure for single neuron PID controller More...

Macros
#define	a_pid_neuro_init(ctx)
	initialize for single neuron PID controller

Typedefs
typedef struct a_pid_neuro	a_pid_neuro
typedef struct a_pid_neuro	a::pid_neuro

Functions
void	a_pid_neuro_set_kpid (a_pid_neuro *ctx, a_real k, a_real kp, a_real ki, a_real kd)
	set proportional integral derivative constant for single neuron PID controller
void	a_pid_neuro_set_wpid (a_pid_neuro *ctx, a_real wp, a_real wi, a_real wd)
	set proportional integral derivative weight for single neuron PID controller
a_real	a_pid_neuro_run (a_pid_neuro *ctx, a_real set, a_real fdb)
	compute for single neuron PID controller
a_real	a_pid_neuro_inc (a_pid_neuro *ctx, a_real set, a_real fdb)
	compute for incremental single neuron PID controller
void	a_pid_neuro_zero (a_pid_neuro *ctx)
	zeroing for single neuron PID controller

Detailed Description

single neuron proportional integral derivative controller

$$\{\begin{array}{l}{x}_i=e(k)\\ x_p=e(k)-e(k-1)\\ x_d=e(k)-2e(k-1)+e(k-2)\end{array}$$

$$\{\begin{array}{l}{\omega }_p(k)={\omega }_p(k-1)+{\eta }_{p}e(k)u(k)x_p(k)\\ {\omega }_i(k)={\omega }_i(k-1)+{\eta }_{i}e(k)u(k)x_i(k)\\ {\omega }_d(k)={\omega }_d(k-1)+{\eta }_{d}e(k)u(k)x_d(k)\end{array}$$

$$u(k)=u(k-1)+K\frac{w_p(k)x_p(k)+w_i(k)x_i(k)+w_d(k)x_d(k)}{|{\omega }_p(k)|+|{\omega }_i(k)|+|{\omega }_d(k)|}$$