siconos.control.controller.PID (Python class)

class siconos.control.controller.PID(*args)[source]

Bases: siconos.control.controller.Actuator

Constructors

PID(ControlSensor sensor, array_like (np.float64, 2D) B=std11::shared_ptr< array_like (np.float64, 2D) >())

Constructor.

Parameters:
  • sensor – the ControlSensor feeding the Actuator
  • B – the B matrix
actuate() → None[source]

Compute the new control law at each event Here we are using the following formula: FORMULA5_ , where FORMULA6_.

display() → None[source]

display the data of the Actuator on the standard output

initialize(NonSmoothDynamicalSystem nsds, Simulation s) → None[source]

initialize actuator data.

Parameters:
  • nsds – a NonSmoothDynamicalSystem
  • s – the simulation
setDeltaT(double deltaT) → None[source]
setK(array_like (np.float64, 1D) K) → None[source]

Set K.

Parameters:K – SP::SiconosVector FORMULA7_
setRef(double reference) → None[source]

Set the value of _ref to reference.

Parameters:reference – the new value
setTimeDiscretisation(TimeDiscretisation td) → None[source]

Get the timestep from the TimeDiscretisation associated with this PID controller.

Parameters:td – the TimeDiscretisation for this Actuator