PD Class Reference

#include <sc_pd.h>

Public Member Functions
	PD (void)
	Constructor.
void	Initialize (double a, double b, double c, double d, ml_matrix inertia)
	Initialize all state matrices. More...
ml_matrix	Update (ml_matrix angle_error)
	Update the output. More...
void	Reset (void)
	Reset the pd.
void	SetInertia (ml_matrix inertia)
	Set the inertia.
ml_matrix	GetInertia (void)
	Get the inertia.

Public Attributes
ml_matrix	q_desired_state
	Target quaternion.

Detailed Description

A PD Based n axis controller for spacecraft.

Member Function Documentation

Initialize()

void PD::Initialize	(	double	a,
		double	b,
		double	c,
		double	d,
		ml_matrix	inertia
	)

Initialize all state matrices.

Initialize the class with the discrete controller gains (state space format).

Parameters

a	Gain matrix A
b	Gain matrix B
c	Gain matrix C
d	Gain matrix D
inr	Axis inertias 1xn

References Reset().

Update()

ml_matrix PD::Update

(

ml_matrix

angle_error

)

Update the output.

Update the controller.

Parameters

angle

Current angles (nx1)

Returns

Torque demand (3x1)