lua/src/pid_fuzzy.h

   1 /***
   2  fuzzy proportional integral derivative controller
   3  @classmod a.pid_fuzzy
   4 */
   5
   6 #ifndef LUA_LIBA_PID_FUZZY_H
   7 #define LUA_LIBA_PID_FUZZY_H
   8
   9 #include "a.h"
  10
  11 /***
  12  fuzzy proportional integral derivative controller
  13  @field kp proportional constant
  14  @field ki integral constant
  15  @field kd derivative constant
  16  @field summax maximum integral output
  17  @field summin minimum integral output
  18  @field sum controller integral output
  19  @field outmax maximum final output
  20  @field outmin minimum final output
  21  @field out controller final output
  22  @field fdb cache feedback
  23  @field err cache error
  24  @field order number of order in the square matrix
  25  @field block maximum number triggered by the rule
  26  @table a.pid_fuzzy
  27 */
  28 #if defined(__cplusplus)
  29 extern "C" {
  30 #endif /* __cplusplus */
  31
  32 /***
  33  destructor for fuzzy PID controller
  34  @function die
  35 */
  36 int liba_pid_fuzzy_die(lua_State *L);
  37
  38 /***
  39  constructor for fuzzy PID controller
  40  @treturn a.pid_fuzzy fuzzy PID controller userdata
  41  @function new
  42 */
  43 int liba_pid_fuzzy_new(lua_State *L);
  44
  45 /***
  46  initialize for fuzzy PID controller
  47  @treturn a.pid_fuzzy fuzzy PID controller userdata
  48  @function init
  49 */
  50 int liba_pid_fuzzy_init(lua_State *L);
  51
  52 /***
  53  set fuzzy relational operator for fuzzy PID controller
  54  @tparam int op enumeration for fuzzy PID controller operator
  55  @treturn a.pid_fuzzy fuzzy PID controller userdata
  56  @function op
  57 */
  58 int liba_pid_fuzzy_op(lua_State *L);
  59
  60 /***
  61  set rule base for fuzzy PID controller
  62  @tparam table me points to membership function parameter table, terminated by 0
  63  @tparam table mec points to membership function parameter table, terminated by 0
  64  @tparam table mkp points to Kp's rule base table which must be a square matrix
  65  @tparam table mki points to Ki's rule base table which must be a square matrix
  66  @tparam table mkd points to Kd's rule base table which must be a square matrix
  67  @treturn a.pid_fuzzy fuzzy PID controller userdata
  68  @function rule
  69 */
  70 int liba_pid_fuzzy_rule(lua_State *L);
  71
  72 /***
  73  set memory block for fuzzy PID controller
  74  @tparam int num maximum number triggered by the rule
  75  @treturn a.pid_fuzzy fuzzy PID controller userdata
  76  @function set_block
  77 */
  78 int liba_pid_fuzzy_block(lua_State *L);
  79
  80 /***
  81  set proportional integral derivative constant for fuzzy PID controller
  82  @tparam number kp proportional constant
  83  @tparam number ki integral constant
  84  @tparam number kd derivative constant
  85  @treturn a.pid_fuzzy fuzzy PID controller userdata
  86  @function kpid
  87 */
  88 int liba_pid_fuzzy_kpid(lua_State *L);
  89
  90 /***
  91  calculate for fuzzy PID controller
  92  @tparam number set setpoint value
  93  @tparam number fdb feedback value
  94  @treturn number setpoint value
  95  @function run
  96 */
  97 int liba_pid_fuzzy_run(lua_State *L);
  98
  99 /***
 100  calculate for positional fuzzy PID controller
 101  @tparam number set setpoint value
 102  @tparam number fdb feedback value
 103  @treturn number output value
 104  @function pos
 105 */
 106 int liba_pid_fuzzy_pos(lua_State *L);
 107
 108 /***
 109  calculate for incremental fuzzy PID controller
 110  @tparam number set setpoint value
 111  @tparam number fdb feedback value
 112  @treturn number output value
 113  @function inc
 114 */
 115 int liba_pid_fuzzy_inc(lua_State *L);
 116
 117 /***
 118  zeroing for fuzzy PID controller
 119  @treturn a.pid_fuzzy fuzzy PID controller userdata
 120  @function zero
 121 */
 122 int liba_pid_fuzzy_zero(lua_State *L);
 123
 124 #if defined(__cplusplus)
 125 } /* extern "C" */
 126 #endif /* __cplusplus */
 127
 128 #endif /* pid/fuzzy.h */