Searched refs:xk (Results 1 – 2 of 2) sorted by relevance
86 void controller_handler(const double xk, double *yk) in controller_handler() argument91 ek = p_param.t_target - xk; /* error */ in controller_handler()94 xk, p_param.t_target); in controller_handler()100 p_term = -p_param.kp * (xk - xk_1); in controller_handler()102 d_term = -p_param.kp * p_param.kd * (xk - 2 * xk_1 + xk_2) / p_param.ts; in controller_handler()106 xk_1 = xk; in controller_handler()
137 extern void controller_handler(const double xk, double *yk);