用C++实现一个简单的PID控制器

#include <limits>
#include <iostream>

using namespace std;
class MyPID
{
public:
	MyPID() {}

	void Init(double init_v, double goal_v, double p, double i, double d)
	{
		initval = init_v;
		goal = goal_v;
		p_coe = p;
		i_coe = i;
		d_coe = d;
		err = goal - initval;
	}

	void UpdateErr(double cte)
	{
		if (step == 1)
		{
			p_err = cte;
		}
		i_err += cte;
		d_err = cte - p_err;
		p_err = cte;

		++step;
	}

	double TotalErr()
	{
		return p_coe * p_err + i_coe * i_err + d_coe * d_err;
	}
	~MyPID()
	{

	}
public:
	double initval=1;
	double goal=1;
	double err=0;
	int step = 1;
	double p_coe=1, i_coe=1, d_coe=1;
	double p_err=0, i_err=0, d_err=0;

};
int main()
{
	MyPID Pid;
	double ini = 7, goal = 8, p = 0.3345, i = 0.0011011, d = 0.662;
	
	Pid.Init(ini, goal, p, i, d);
	
	for (int i=0; i<20 ;++i)
	{
		double cte = goal - ini;
		Pid.UpdateErr(cte);
		cte = Pid.TotalErr();
		ini += cte;
		cout << cte << endl;
	}
}

参考
无人驾驶汽车系统入门（四）——反馈控制入门，PID控制