/*
 * DiscreteSecondOrderTransferFunction.hh
 *
 *  Created on: 16 сент. 2020 г.
 *      Author: LeonidTitov
 */

#ifndef UMLIBRARY_CONTROL_TF_DISCRETESECONDORDERTRANSFERFUNCTION_HH_
#define UMLIBRARY_CONTROL_TF_DISCRETESECONDORDERTRANSFERFUNCTION_HH_

#include "../Vector.hh"

namespace control { namespace regulator {

//!.
class DiscreteSecondOrderTransferFunction : public IValueTransform {
public:

    DiscreteSecondOrderTransferFunction();

    Value operator()( Value value ) const;

    //!Настройки ПИ-регулятора.
    struct Setting {
        float a0;
        float a1;
        float a2;

        float b0;
        float b1;
        float b2;

        Setting();
        bool isValid();
    };

    void configure( Setting & config );

private:
    float yn[3];
    float xn[3];

};

inline void initialize( Deadzone & sc, Deadzone::Setting & config ) {

    sc.configure(config);

}

}}




#endif /* UMLIBRARY_CONTROL_TF_DISCRETESECONDORDERTRANSFERFUNCTION_HH_ */