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/*
*
* Copyright 2016 gRPC authors.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#ifndef GRPC_CORE_LIB_TRANSPORT_PID_CONTROLLER_H
#define GRPC_CORE_LIB_TRANSPORT_PID_CONTROLLER_H
#ifdef __cplusplus
extern "C" {
#endif
/* \file Simple PID controller.
Implements a proportional-integral-derivative controller.
Used when we want to iteratively control a variable to converge some other
observed value to a 'set-point'.
Gains can be set to adjust sensitivity to current error (p), the integral
of error (i), and the derivative of error (d). */
typedef struct {
double gain_p;
double gain_i;
double gain_d;
double initial_control_value;
double min_control_value;
double max_control_value;
double integral_range;
} grpc_pid_controller_args;
typedef struct {
double last_error;
double error_integral;
double last_control_value;
double last_dc_dt;
grpc_pid_controller_args args;
} grpc_pid_controller;
/** Initialize the controller */
void grpc_pid_controller_init(grpc_pid_controller *pid_controller,
grpc_pid_controller_args args);
/** Reset the controller: useful when things have changed significantly */
void grpc_pid_controller_reset(grpc_pid_controller *pid_controller);
/** Update the controller: given a current error estimate, and the time since
the last update, returns a new control value */
double grpc_pid_controller_update(grpc_pid_controller *pid_controller,
double error, double dt);
/** Returns the last control value calculated */
double grpc_pid_controller_last(grpc_pid_controller *pid_controller);
#ifdef __cplusplus
}
#endif
#endif /* GRPC_CORE_LIB_TRANSPORT_PID_CONTROLLER_H */
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