rocket_output_to_err_der_err#
Class method.
- do_dpc.control_utils.pid_control_utils.rocket_output_to_err_der_err(output, output_target=None)[source]#
Converts a Rocket output to error and derivative of error.
- Parameters:
output (np.ndarray) – The output array containing the states and their derivatives.
output_target (np.ndarray, optional) – The target output array. Defaults to an array of zeros.
- Returns:
A tuple containing the errors and the derivatives of the errors.
- Return type:
Tuple[np.ndarray, np.ndarray]