Control Systems Repository

This repository contains a collection of header files and some .c files for testing various control systems, filters, and DC motor operation functions.

Table of Contents

• PID Control
• Model-Reference Adaptive Control
• Filters
• DC Motor Operation
• Future Plans
• Important Note
• Installation
• Usage
• Examples
• Contributing
• License

PID Control

PID.h contains functions for PID control, including saturation and anti-windup features.

Model-Reference Adaptive Control

MRAC.h includes functions for Model-Reference Adaptive Control implementing the Lyapunov-rule, using a first-order system as the reference model.

Filters

filters.h offers functions for FIR/IIR filters.

DC Motor Operation

DCMotorHBridge.h contains functions for operating DC Motors using H-bridges.

Future Plans

Plans to expand this project to include additional controllers and advanced control systems for enthusiasts, students, and professionals.

Important Note

Please read the comments inside the header files before using them in your code to understand their functionality and proper usage.

Installation

git clone https://github.com/omarequalmars/under_ctrl.git
cd under_ctrl

Examples

• Classical PID Position Control example

## Examples

### PID Control Example
```c
#include "PID.h"

// Define PID controller parameters
#define K_p 1.0
#define K_i 10.0
#define K_d 0.1
#define sampling_time 0.005
#define max_PWM 255
#define anti_windup_on 1
#define anti_windup_off 0

// Define pin numbers for motor control
#define in1 3
#define in2 4
#define PWM_pin A0

void main() {
    // Define the setpoint for the desired position
    float position_setpoint = 10.0;
    float position_actual, error_signal;

    // Read the actual position (replace readdata() with your actual data reading function)
    position_actual = readdata();

    // Calculate the error signal
    error_signal = error(position_actual, position_setpoint);

    // Compute the PWM signal using the PID controller with Zero-Order Hold
    float PWM = PID_ctrlr_withZOH(error_signal, K_p, K_i, K_d, max_PWM, sampling_time, anti_windup_on);

    // Send the PWM signal to the motor driver to move the motor
    MoveitMoveit(PWM, in1, in2, PWM_pin);
}

• MRAC-PI Speed Control Example

### MRAC Example
```c
#include "MRAC.h"

// Define MRAC controller parameters
#define K_init_both 1.0
#define K_integralmax 10.0
#define K_proportionalmax 0.1
#define learning_rate 0.1
#define reference_time_constant 0.01
#define sampling_time 0.005
#define max_PWM 255
#define anti_windup_on 1
#define anti_windup_off 0

// Define pin numbers for motor control
#define in1 3
#define in2 4
#define PWM_pin A0

void main() {
    // Define the setpoint for the desired speed
    float speed_setpoint = 10.0;
    float speed_actual, error_signal;

    // Read the actual speed (replace readdata() with your actual data reading function)
    speed_actual = readdata();

    // Compute the PWM signal using the MRAC controller
    float PWM = UnderControl(speed_actual, speed_setpoint, K_init_both, K_proportionalmax, K_integralmax, learning_rate, reference_time_constant, sampling_time);

    // Send the PWM signal to the motor driver to control the motor speed
    MoveitMoveit(PWM, in1, in2, PWM_pin);
}