create_pre_stabilized_1D_double_integrator#
Class method.
- do_dpc.control_utils.lti_systems.create_pre_stabilized_1D_double_integrator(meas_noise_std=None, process_noise_std=None, meas_noise_seed=None, process_noise_seed=None)[source]#
Creates and returns an LTISimulator instance representing a 1-D double integrator system. With an additional stabilizing PD controller with Kp = 0.1, Kd = 0.1.
- System dynamics:
A = [[0.9, 1], [0, 0.9]] B = [[1], [0]] C = [[1, 0], [0, 1]] D = [[0], [0]] x_0 = [0, 0]
- Optional Noise Parameters:
meas_noise_std (ndarray, optional): Standard deviation of measurement noise. process_noise_std (ndarray, optional): Standard deviation for process noise. meas_noise_seed (int, optional): Seed for the measurement noise. process_noise_seed (int, optional): Seed for the process noise.
- Returns:
A configured instance with the specified noise properties.
- Return type: