MIMOPIDController#
- class do_dpc.control_utils.pid.MIMOPIDController(pid_controllers)[source]#
Bases:
objectA class to manage multiple PID controllers for a decoupled MIMO system.
This class holds multiple PIDController instances and computes the control actions for each one.
- pid_controllers#
A list of PIDController instances.
- Type:
List[PIDController]
Methods#
compute#
- do_dpc.control_utils.pid.MIMOPIDController.compute(self, errors)#
Computes the control actions for all PID controllers.
- Parameters:
errors (np.ndarray) – An array of error signals (differences between setpoints and measurements).
- Returns:
An array of computed control signals.
- Return type:
np.ndarray
compute_with_derivative#
- do_dpc.control_utils.pid.MIMOPIDController.compute_with_derivative(self, errors, error_derivatives)#
Computes the control actions for all PID controllers using provided error derivatives.
- Parameters:
errors (np.ndarray) – An array of error signals (differences between setpoints and measurements).
error_derivatives (np.ndarray) – An array of error derivatives.
- Returns:
An array of computed control signals.
- Return type:
np.ndarray