Merge pull request #5 from CasBex/AntiWindupP-PD

Anti windup p pd
JuliaControl · Jun 29, 2023 · bafb150 · bafb150
2 parents 88db5cd + 211ac8b
commit bafb150
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Showing 2 changed files with 7 additions and 2 deletions.
diff --git a/src/DiscretePIDs.jl b/src/DiscretePIDs.jl
@@ -75,7 +75,11 @@ function DiscretePID(;
     0 ≤ b ≤ 1 || throw(ArgumentError("b must be ∈ [0, 1]"))
     umax > umin || throw(ArgumentError("umax must be greater than umin"))
 
-    ar = Ts / Tt
+    if Ti > 0
+        ar = Ts / Tt
+    else
+        ar = zero(Ts / Tt)
+    end
     ad = Td / (Td + N * Ts)
     bd = K * N * ad
 

diff --git a/test/runtests.jl b/test/runtests.jl
@@ -134,9 +134,10 @@ res2 = lsim(P, ctrl, 3)
 
 # plot([res, res2], plotu=true)
 @test maximum(res2.u) == umax
+@test pid.I == 0.0
 
 
 @test DiscretePID(Ts=1f0) isa DiscretePID{Float32}
 @test DiscretePID(Ts=1.0) isa DiscretePID{Float64}
 
-end
+end