Struct PidController

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pub struct PidController {
    pub gains: PidGains,
    /* private fields */
}

Expand description

Discrete-time PID controller with output clamping and anti-windup.

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§gains: PidGains

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impl PidController

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pub fn new(gains: PidGains, output_min: f64, output_max: f64) -> Self

Create a new PID controller.

§Panics

Panics (in debug mode) if output_min > output_max.

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pub fn update(&mut self, setpoint: f64, measurement: f64, dt: f64) -> f64

Compute one discrete-time PID step.

Anti-windup: the integral is only accumulated when the output is not saturated, preventing unbounded growth.

Returns the clamped control output.

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pub fn reset(&mut self)

Reset integral and previous-error state.

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pub fn p_term(&self, error: f64) -> f64

Proportional term.

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pub fn i_term(&self) -> f64

Current integral term (accumulated so far).

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pub fn d_term(&self, error: f64, prev_error: f64, dt: f64) -> f64

Derivative term given current error, previous error, and time step.

Auto Trait Implementations§

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impl UnwindSafe for PidController

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