PIDCombo

Contents

PIDCombo#

class do_dpc.control_utils.pid_control_utils.PIDCombo(MIMO_PID, converter_function)[source]#

Bases: object

A dataclass to bundle a MIMOPIDController and a converter function.

MIMO_PID#

An instance of MIMO_PIDController.

Type:: MIMOPIDController

converter_function#

Type:: Callable[[np.ndarray, np.ndarray], Tuple[np.ndarray, np.ndarray]]

A function to convert outputs to error and derivative of error.

Methods#

Attributes#

MIMO_PID#

PIDCombo.MIMO_PID: MIMOPIDController#

converter_function#

PIDCombo.converter_function: Callable[[ndarray, Optional[ndarray]], Tuple[ndarray, ndarray]]#