15 lines
313 B
C++
15 lines
313 B
C++
#include "pt1.h"
|
|
|
|
void pt1_init(struct pt1_state *state, float K, float T)
|
|
{
|
|
state->K = K;
|
|
state->T = T;
|
|
state->y_n1 = 0.0f;
|
|
}
|
|
|
|
float pt1_update(struct pt1_state *state, float u, float dt)
|
|
{
|
|
float y = state->y_n1 + (state->K * u - state->y_n1) * dt / state->T;
|
|
state->y_n1 = y;
|
|
return y;
|
|
} |