Base Controllers

Subcomponents of a Base Controller

• P Controller
• I Controller
• PI Controller
• PID Controller
• Three Point Controller

Base Controller

class gem_controllers.stages.base_controllers.base_controller.BaseController(control_task)

The base controller is the base class for all dynamic control stages like the P-I-D controllers or the Three-Point controller.

In contrast to other stages, the base controllers can be used for multiple tasks e.g. a speed control with a reference as output or a current control with voltages as output.

Parameters

control_task (str) – Control task of the base controller.

__call__(state, reference)

Calculate the reference value of the base controller.

Parameters

• state (np.ndarray) – The state of the environment.

• reference (np.ndarray) – The reference of the state.

Returns

reference values of the next stage

Return type

np.array

tune(env, env_id, **base_controller_kwargs)

Tune a base controller.

Parameters

• env (ElectricMotorEnvironment) – The GEM-Environment that the controller shall be created for.

• env_id (str) – The corresponding environment-id to specify the concrete environment.

• **base_controller_kwargs – Keyword arguments, that should be passed to a base controller