main.cpp

#include <iostream>
#include <math.h>

using namespace std;


/*
Создаем абстрактный класс Model, от которого будут наследоватся LinearModel и NonLinearModel
*/
class Model {

public:

    virtual double Iteration(double roomTemp, double inputWarm) = 0;
};


/*
Класс линейной модели поведения
*/
class LinearModel : public Model {

private:

    const double A = 0.333, B = 0.667;

public:

    double Iteration(double roomTemp, double inputWarm) {

        double tempNext;
        tempNext = A * roomTemp + B * inputWarm;

        return tempNext;
    }

};


/*
Класс линейной модели поведения
*/
class NonLinearModel : public Model
{
private:

    const double A = 1, B = 0.0033, C = 0.525, D = 0.525;
    double tempPrev = 0, warmPrev = 0;

public:

    double Iteration(double roomTemp, double inputWarm) {

        double tempNext = A * roomTemp - B * pow(tempPrev, 2) + C * inputWarm + D * sin(warmPrev);
        warmPrev = inputWarm;
        tempPrev = roomTemp;

        return tempNext;
    }

};



/*
Создаем абстрактный класс Model, от которого будут наследоватся LinearModel и NonLinearModel
*/
class Regulator {
private:

    double T = 10, T0 = 10, TD = 50, K = 0.1;
    double u = 0;
    double num = 100;

public:

    double Regulate(double e, double e1, double e2) {

        double q0 = K * (1 + TD / T0);
        double q1 = -K * (1 + 2 * TD / T0 - T0 / T);
        double q2 = K * TD / T0;
        u += q0 * e + q1 * e1 + q2 * e2;

        return u;
    }

    void ResetU()
    {
        u = 0;
    }

    void pidRegulator(double w, double y0, Model* model)
    {
        double errorPrev = 0, error2Prev = 0, y = y0;
        for (int i = 0; i < num; i++) {
            double error, u;
            error = w - y;
            u = Regulate(error, errorPrev, error2Prev);
            y = model->Iteration(y0, u);
            std::cout << "E = " << error << ", Y = " << y << ", U = " << u << std::endl;
            error2Prev = errorPrev;
            errorPrev = error;
        }
    }

};



int main()
{
    setlocale(LC_ALL, "Russian");
    double w = 24, y = 18;

    Regulator* regulator = new Regulator;
    LinearModel* lModel = new LinearModel;
    NonLinearModel* nlModel = new NonLinearModel;

    cout << "Linear: " << endl;
    regulator->pidRegulator(w, y, lModel);

    regulator->ResetU();

    cout << "NonLinear: " << endl;
    regulator->pidRegulator(w, y, nlModel);

    return 0;
}