Template Function GridKit::Math::antiwindup

Function Documentation

template<class ScalarT, typename RealT>
inline ScalarT GridKit::Math::antiwindup(const ScalarT x, const ScalarT f, const RealT limit_min, const RealT limit_max)

Smooth anti-windup limited derivative.

Applies the smooth anti-windup indicator gate to a pre-limit derivative. The returned value approximates the conditional-integration rule that passes interior dynamics, passes restoring motion from saturated limits, and blocks motion that would push further into saturation.

Template Parameters:

  • ScalarT – - Scalar data type

  • RealT – - Real data type (see GridKit::ScalarTraits<ScalarT>::RealT)

Parameters:

  • x – [in] - Limited state or limited output signal

  • f – [in] - Pre-limit derivative

  • limit_min – [in] - Minimum limit

  • limit_max – [in] - Maximum limit

Returns:

Smooth anti-windup limited derivative