#ifndef _RTW_HEADER_Controller_h_
#define _RTW_HEADER_Controller_h_

#ifndef _Controller_COMMON_INCLUDES_
# define _Controller_COMMON_INCLUDES_
#include <math.h>
#include <stddef.h>
#include <string.h>
#include "rtwtypes.h"
#include "rtlibsrc.h"
#endif

#include "Controller_types.h"

#ifndef rtmGetErrorStatus
# define rtmGetErrorStatus(rtm) ((void*) 0)
#endif

#ifndef rtmSetErrorStatus
# define rtmSetErrorStatus(rtm, val) ((void) 0)
#endif

typedef struct {
  real_T Observer_DSTATE[4];
  real_T DiscreteTimeIntegrator_DSTATE;
} D_Work_Controller;

typedef struct {
  real_T trajectory[3];
  real_T Encoder;
} ExternalInputs_Controller;

typedef struct {
  real_T U;
} ExternalOutputs_Controller;

struct _Parameters_Controller {
  real_T FeedForwardGain_Gain;
  real_T Observer_A[16];
  real_T Observer_B[8];
  real_T Observer_C[4];
  real_T Observer_X0;
  real_T L2_Gain[4];
  real_T DiscreteTimeIntegrator_g;
  real_T DiscreteTimeIntegrator_I;
  real_T IntegralGain_Gain;
};

extern Parameters_Controller Controller_P;

extern D_Work_Controller Controller_DWork;

extern ExternalInputs_Controller Controller_U;

extern ExternalOutputs_Controller Controller_Y;

extern void Controller_initialize(boolean_T firstTime);
extern void Controller_step(void);

#endif