Controller Functions

Modules
	Sine Cosine
	Computes the trigonometric sine and cosine values using a combination of table lookup and linear interpolation. There are separate functions for Q31 and floating-point data types. The input to the floating-point version is in degrees while the fixed-point Q31 have a scaled input with the range [-1 0.9999] mapping to [-180 +180] degrees.
	PID Motor Control
	A Proportional Integral Derivative (PID) controller is a generic feedback control loop mechanism widely used in industrial control systems. A PID controller is the most commonly used type of feedback controller.
	Vector Park Transform
	Forward Park transform converts the input two-coordinate vector to flux and torque components. The Park transform can be used to realize the transformation of the Ialpha and the Ibeta currents from the stationary to the moving reference frame and control the spatial relationship between the stator vector current and rotor flux vector. If we consider the d axis aligned with the rotor flux, the diagram below shows the current vector and the relationship from the two reference frames:
	Vector Inverse Park transform
	Inverse Park transform converts the input flux and torque components to two-coordinate vector.
	Vector Clarke Transform
	Forward Clarke transform converts the instantaneous stator phases into a two-coordinate time invariant vector. Generally the Clarke transform uses three-phase currents Ia, Ib and Ic to calculate currents in the two-phase orthogonal stator axis Ialpha and Ibeta. When Ialpha is superposed with Ia as shown in the figure below.
	Vector Inverse Clarke Transform
	Inverse Clarke transform converts the two-coordinate time invariant vector into instantaneous stator phases.

Detailed Description