X-Git-Url: https://git.creatis.insa-lyon.fr/pubgit/?p=CreaPhase.git;a=blobdiff_plain;f=octave_packages%2Fcontrol-2.3.52%2FoptiPIDctrl.m;fp=octave_packages%2Fcontrol-2.3.52%2FoptiPIDctrl.m;h=65f2d4c264930c9dcae03a6813f3c6ee689cf55d;hp=0000000000000000000000000000000000000000;hb=c880e8788dfc484bf23ce13fa2787f2c6bca4863;hpb=1705066eceaaea976f010f669ce8e972f3734b05

diff --git a/octave_packages/control-2.3.52/optiPIDctrl.m b/octave_packages/control-2.3.52/optiPIDctrl.m
new file mode 100644
index 0000000..65f2d4c
--- /dev/null
+++ b/octave_packages/control-2.3.52/optiPIDctrl.m
@@ -0,0 +1,18 @@
+% ===============================================================================
+% optiPIDctrl                      Lukas Reichlin                   February 2012
+% ===============================================================================
+% Return PID controller with roll-off for given parameters Kp, Ti and Td.
+% ===============================================================================
+
+function C = optiPIDctrl (Kp, Ti, Td)
+
+  tau = Td / 10;    % roll-off
+
+  num = Kp * [Ti*Td, Ti, 1];
+  den = conv ([Ti, 0], [tau^2, 2*tau, 1]);
+  
+  C = tf (num, den);
+
+end
+
+% ===============================================================================