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class P is subclass of DTControl
instance variables
-- design parameters
protected k: real;
operations
-- constructor for PD
public P: real ==> P
P(k_) ==
(
k := k_;
);
-- default constructor for PD
public P: () ==> P
P() ==
P(DEF_K);
-- calculates output, based on the error
public Output: real ==> real
Output(err) ==
(
return k * err
);
values
-- defaults
DEF_K: real = 0.2;
end P
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