lib/PhaseLeadLag.hh

// 菴咲嶌騾ｲ縺ｿ/驕�繧瑚｣懷─蝎ｨ繧ｯ繝ｩ繧ｹ
// 2011/02/14 Yuki YOKOKURA
//
// 菴咲嶌陬懷─蝎ｨ G(s)=(1+s*a/g)/(1+s/g) (蜿御ｸ�谺｡螟画鋤)
//
// Copyright (C) 2011 Yuki YOKOKURA
// This program is free software;
// you can redistribute it and/or modify it under the terms of the GNU General Public License
// as published by the Free Software Foundation; either version 3 of the License, or any later version.
// This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
// without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
// See the GNU General Public License for more details <http://www.gnu.org/licenses/>.
// Besides, you can negotiate about other options of licenses instead of GPL.
// If you would like to get other licenses, please contact us<yuki@katsura.sd.keio.ac.jp>.

#ifndef PHASELEADLAG
#define PHASELEADLAG

namespace ARCS {        // ARCS蜷榊燕遨ｺ髢�
        class PhaseLeadLag {
                private:
                        double Ts;      // [s]          蛻ｶ蠕｡蜻ｨ譛�
                                double g;       // [rad/s]      繧ｲ繧､繝ｳ迚ｹ諤ｧ縺ｮ謚倥ｌ轤ｹ蜻ｨ豕｢謨ｰ
                        double a;       //                      a < 1 縺ｧ菴咲嶌驕�繧鯉ｼ�1 < a 縺ｧ菴咲嶌騾ｲ縺ｿ
                        double uZ1;     //                      迥ｶ諷句､画焚1 螟画焚蜷校1縺ｮ諢丞袖縺ｯz螟画鋤縺ｮz^(-1)繧堤､ｺ縺�
                        double yZ1;     //                      迥ｶ諷句､画焚2
                
                public:
                        PhaseLeadLag(double AngFreq, double Phase, double SmplTime);
                        // 繧ｳ繝ｳ繧ｹ繝医Λ繧ｯ繧ｿ
                        // AngFreq�ｼ媼rad/s] 繧ｲ繧､繝ｳ迚ｹ諤ｧ縺ｮ謚倥ｌ轤ｹ蜻ｨ豕｢謨ｰ�ｼ径 < 1 縺ｧ菴咲嶌驕�繧鯉ｼ�1 < a 縺ｧ菴咲嶌騾ｲ縺ｿ�ｼ郡mplTime�ｼ媼s] 蛻ｶ蠕｡蜻ｨ譛�
                        ~PhaseLeadLag();                                        // 繝�繧ｹ繝医Λ繧ｯ繧ｿ
                        double GetSignal(double u);                     // 蜃ｺ蜉帑ｿ｡蜿ｷ縺ｮ蜿門ｾ� u�ｼ帛�･蜉帑ｿ｡蜿ｷ
                        void SetSmplTime(double SmplTime);      // 蛻ｶ蠕｡蜻ｨ譛溘�ｮ蜀崎ｨｭ螳� SmplTime�ｼ媼s] 蛻ｶ蠕｡蜻ｨ譛�
                        void SetFreq(double AngFreq);                   // 繧ｲ繧､繝ｳ迚ｹ諤ｧ縺ｮ謚倥ｌ轤ｹ蜻ｨ豕｢謨ｰ縺ｮ蜀崎ｨｭ螳� AngFreq�ｼ媼rad/s] 謚倥ｌ轤ｹ蜻ｨ豕｢謨ｰ
                        void SetPhase(double Phase);            // a < 1 縺ｧ菴咲嶌驕�繧鯉ｼ�1 < a 縺ｧ菴咲嶌騾ｲ縺ｿ
                        void ClearStateVars(void);                      // 縺吶∋縺ｦ縺ｮ迥ｶ諷句､画焚縺ｮ繝ｪ繧ｻ繝�繝�
        };
}

#endif