Searched refs:d_term (Results 1 – 1 of 1) sorted by relevance
89 double p_term, i_term, d_term; in controller_handler() local102 d_term = -p_param.kp * p_param.kd * (xk - 2 * xk_1 + xk_2) / p_param.ts; in controller_handler()104 *yk += p_term + i_term + d_term; in controller_handler()