collect_trajectory_data

collect_trajectory_data#

Class method.

do_dpc.control_utils.trajectory_collector.collect_trajectory_data(sys, m, p, pid_combo=None, n_samples=1000, exc_dev=1)[source]#

Collects trajectory data from an LTI system with optional PID control.

Parameters:

  • sys (LTISimulator) – The system to collect data from.

  • m (int) – Number of control inputs.

  • p (int) – Number of system outputs.

  • pid_combo (PIDCombo, optional) – PID controller with function to get state to error.

  • n_samples (int, optional) – Number of samples for the data collection.

  • exc_dev (float, optional) – Excitation Deviation for the input generation.

Returns:

Collected trajectory data containing system outputs and control inputs.

Return type:

InputOutputTrajectory

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