real IntegraleDeterministico::gauss()
{
resetIntegral();
real omega1 = ((real)128.)/225;
real omega23 = ((322+13*sqrt((real)70))/900);
real omega45 = ((322-13*sqrt((real)70))/900);
real xi23 = ( ((real)1) /3)*sqrt(5-2*sqrt( (real)(10./7) ));
real xi45 = ( ((real)1) /3)*sqrt(5+2*sqrt( (real)(10./7) ));
for (int i = 0; i < intervalli(); i++) {
real c = (x_i(i+1)+x_i(i))/2.;
real m = (x_i(i+1)-x_i(i))/2.;
// http://mathworld.wolfram.com/Legendre-GaussQuadrature.html
add( m*omega1*f_test(c) ); // root = 0
add( m*omega23*f_test(c - m*xi23) );
add( m*omega23*f_test(c + m*xi23) );
add( m*omega45*f_test(c - m*xi45) );
add( m*omega45*f_test(c + m*xi45) );
}
return getIntegral();
}
real IntegraleDeterministico::trapezi()
{
resetIntegral();
for (int i = 0; i < intervalli(); i++) {
add( h()/2 * (f_test(x_i(i)) + f_test(x_i(i+1)) ) );
}
return getIntegral();
}
real IntegraleDeterministico::simpson()
{
resetIntegral();
for (int i = 0; i < intervalli()-1; i+=2) {
add( h()/3 * (f_test(x_i(i)) + 4*f_test(x_i(i+1)) + f_test(x_i(i+2)) ) );
}
return getIntegral();
}
//******************************************************************************
void PidController::set(glo_pid_params_t const & params)
{
if (ki_ != params.ki)
{
// If user changes the integral gain then we want to zero out integral so that
// the controller performance is only a function of the current (new) gains.
resetIntegral();
}
kp_ = params.kp;
kd_ = params.kd;
ki_ = params.ki;
lolimit_ = params.lolimit;
hilimit_ = params.hilimit;
integral_lolimit_ = params.integral_lolimit;
integral_hilimit_ = params.integral_hilimit;
}
