Controllers

Control

An interface for a control algorithm.

apply(dt: float, state: T, /, *, error_power: float) -> tuple[float, T]

Propose a time-step-size.

init(dt: float) -> T

Initialise the controller state.

S = TypeVar('S') module-attribute

T = TypeVar('T') module-attribute

__all__ = ['Control', 'control_integral', 'control_proportional_integral'] module-attribute

control_integral(*, safety=0.95, factor_min=0.2, factor_max=10.0)

Construct an integral-controller.

apply(dt, state: tuple, /, *, error_power)

factor_max = factor_max instance-attribute

factor_min = factor_min instance-attribute

init(dt) -> tuple

safety = safety instance-attribute

control_proportional_integral(*, safety=0.95, factor_min=0.2, factor_max=10.0, exponent_integral=0.3, exponent_proportional=0.4)

Construct a proportional-integral-controller with time-clipping.

apply(dt: float, error_norm_inv_prev: float, /, *, error_power)

exponent_integral = exponent_integral instance-attribute

exponent_proportional = exponent_proportional instance-attribute

factor_max = factor_max instance-attribute

factor_min = factor_min instance-attribute

init(dt: float) -> float

safety = safety instance-attribute