Программный комплекс Анализ систем 3.1 / PROG / C / Ctrl

/* џ§лЄ C, C++  */

/***********************************************************\
|  ќв  ЎЁЎ«Ё®вҐЄ  Ўл«  ᮧ¤ ­  Ї ЄҐв®¬ "Ђ­ «Ё§ ‘Ёб⥬ 3"    |
|  (c) …ўбвЁЈ­ҐҐў „.‚.                                      |
\***********************************************************/
/* ђ бзЁв ­® ¤«п в Єв  а Ў®вл 0.003 ᥪ */

#include <stdio.h>

float NDSum0;
float Propor1;
float Integrator2;
float Integrator2Sum;
float Integrator2Old;
float Diff3;
float Diff3Old;
float Sum4;
float Limit5;

/****************************************************\
|                    €­ЁжЁ «Ё§ жЁп                   |
\****************************************************/
void Initialization()
{
  Integrator2Sum = 0.00000;
  Integrator2Old = 0.00000;
  Diff3Old = 0.00000;
}


/*****************************************************************\
| Љ®­ва®««Ґа Input - ўе®¤­®© бЁЈ­ « ॣг«пв®а                     |
| ‚®§ўа й Ґв Y - ўл室­®© бЁЈ­ « ॣг«пв®а                        |
\*****************************************************************/
void Controller(float Input0, float Input1, float *Output0)
{
  /*****NDSum0*****/
  NDSum0 = Input0;
  NDSum0 -= Input1;
  /*****Propor1*****/
  Propor1 = NDSum0;
  Propor1 *= 1.43478261;
  /*****Integrator2*****/
  Integrator2 = NDSum0;
  Integrator2 += Integrator2Old;
  Integrator2 *= 0.00652174;
  Integrator2Sum += Integrator2;
  Integrator2 = Integrator2Sum;
  Integrator2Old = NDSum0;
  /*****Diff3*****/
  Diff3 = NDSum0;
  Diff3 -= Diff3Old;
  Diff3Old = NDSum0;
  Diff3 *= 13.04347826;
  /*****Sum4*****/
  Sum4 = Propor1;
  Sum4 += Integrator2;
  Sum4 += Diff3;
  /*****Limit5*****/
  Limit5 = Sum4;
  if (Limit5 > 50)
  {
    Limit5 = 50;
  }
  else
  {
    if (Limit5 < -50)
    {
      Limit5 = -50;
    }
  }
  *Output0 = Limit5;
}