3.9.6 mcUtils_PiControlInit

C


/* Initializes the PI control structure with the given parameters. */
void mcUtils_PiControlInit( float32_t Kp, float32_t Ki, float32_t dt,  
                                       tmcUtils_PiControl_s  * const pControl)

Summary

Initializes the PI control structure with the given parameters.

Description

The function initializes the PI controller by setting its proportional gain (Kp) and calculating the effective integral gain (Ki). The integral gain is scaled by the sampling time (dt) to accommodate discrete-time integration.

Precondition

None.

Parameters


Param	Description
Kp	Proportional gain of the PI controller.
Ki	Integral gain of the PI controller
dt	Sampling time
pControl	Pointer to the PI control structure that needs to be initialized.

Returns

None

Example

tmcUtils_PiControl_s piControl;
float32_t Kp = 1.0f;
float32_t Ki = 0.5f;
float32_t dt = 0.0001f;

mcUtils_PiControlInit(Kp, Ki, dt, &piControl);

Remarks

None.