142 lines
5.8 KiB
C
142 lines
5.8 KiB
C
/*
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* Copyright (C) 2023 Texas Instruments Incorporated - http://www.ti.com/
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*
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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*
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the
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* distribution.
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*
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* * Neither the name of Texas Instruments Incorporated nor the names of
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* its contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef _DCL_ZPK3_H_
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#define _DCL_ZPK3_H_
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* \addtogroup DCL_API_MODULE APIs for Digital Control Library
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*
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* @{
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* \file dcl_zpk3.h
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* \brief Defines ZPK3 strcture that represents
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* a third order transfer function of poles and zeros
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*/
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#include <complex.h>
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//--- ZPK3 structure ---------------------------------------------------------
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//! \brief Defines the DCL_ZPK3 controller structure.
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//!
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//! \details Allows controllers to be defined in terms of complex pole
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//! and zero frequencies. The common structure consists of
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//! three complex zeros, three complex poles, and a real gain.
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//! All frequencies must be specified in radians/sec.
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//!
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typedef struct dcl_zpk3
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{
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float complex z1; //!< Complex zeros 1
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float complex z2; //!< Complex zeros 2
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float complex z3; //!< Complex zeros 3
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float complex p1; //!< Complex poles 1
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float complex p2; //!< Complex poles 2
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float complex p3; //!< Complex poles 3
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float32_t K; //!< Real gain
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} DCL_ZPK3;
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//! \brief Defines default values to initialize the DCL_ZPK3 structure
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//!
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#define ZPK3_DEFAULTS { 0.0f + 0.0f*I, 0.0f + 0.0f*I, 0.0f + 0.0f*I, \
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0.0f + 0.0f*I, 0.0f + 0.0f*I, 0.0f + 0.0f*I, \
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1.0f }
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_DCL_CODE_ACCESS
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bool DCL_isStableZpk3(DCL_ZPK3 *q)
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{
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return((cabsf(q->p1) < 1.0f) && (cabsf(q->p2) < 1.0f) && (cabsf(q->p3) < 1.0f));
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}
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// \brief All ZPK functions exist in its respective controller conversion type
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// All the ZPK conversion function prototypes are listed below
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/*
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//! \brief Loads the DF11 shadow coefficients from a ZPK3 description
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//! Note: new settings take effect after DCL_updateDF11()
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//! Only real z1 & p1 considered: all other roots ignored
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//! Located in df/dcl_df11.h
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extern void DCL_loadDF11asZPK(DCL_DF11 *p, DCL_ZPK3 *q);
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//! \brief Loads the DF13 shadow coefficients from a ZPK3 description
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//! Note: new settings take effect after DCL_updateDF13()
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//! Located in df/dcl_df13.h
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extern void DCL_loadDF13asZPK(DCL_DF13 *p, DCL_ZPK3 *q);
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//! \brief Loads the DF22 shadow coefficients from a ZPK3 description
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//! Note: new settings take effect after DCL_updateDF22()
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//! Only z1, z2, p1 & p2 considered: z3 & p3 ignored
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//! Located in df/dcl_df22.h
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extern void DCL_loadDF22asZPK(DCL_DF22 *p, DCL_ZPK3 *q);
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//! \brief Loads the DF23 shadow coefficients from a ZPK3 description
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//! Note: new settings take effect after DCL_updateDF23()
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//! Located in df/dcl_df23.h
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extern void DCL_loadDF23asZPK(DCL_DF23 *p, DCL_ZPK3 *q);
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//! \brief Configures a series PI controller in "zero-pole-gain" form
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//! Note: new settings take effect after DCL_updatePI()
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//! Only z1 considered in DCL_ZPK3, other poles & zeros ignored
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//! Zero frequency assumed to be in radians/sec.
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//! Located in pi/dcl_pi.h
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extern void DCL_loadSeriesPIasZPK(DCL_PI *p, DCL_ZPK3 *q);
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//! \brief Configures a parallel PI controller in "zero-pole-gain" form
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//! Note: new settings take effect after DCL_updatePI()
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//! Zero frequency assumed to be in radians/sec.
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//! Located in pi/dcl_pi.h
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extern void DCL_loadParallelPIasZPK(DCL_PI *p, DCL_ZPK3 *q);
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//! \brief Configures a series PID controller in ZPK form
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//! Note: parameters take effect after call to DCL_updatePID()
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//! Only z1, z2 & p2 considered. p1 = 0 assumed.
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//! Located in pid/dcl_pid.h
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extern void DCL_loadSeriesPIDasZPK(DCL_PID *p, DCL_ZPK3 *q);
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//! \brief Configures a parallel PID controller in ZPK form
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//! Note: parameters take effect after call to DCL_updatePID()
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//! Only z1, z2 & p2 considered. p1 = 0 assumed.
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//! Located in pid/dcl_pid.h
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extern void DCL_loadParallelPIDasZPK(DCL_PID *p, DCL_ZPK3 *q);
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*/
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/** @} */
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#ifdef __cplusplus
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}
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#endif // extern "C"
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#endif // _DCL_ZPK3_H_
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