I Controller
- class gem_controllers.stages.base_controllers.i_controller.IController(control_task)[source]
This class represents an integration controller, which can be combined e.g. with a proportional controller to a PI controller.
- Parameters
control_task (str) – Control task of the base controller
- __call__(state, reference)[source]
Calculate the reference values of the I 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
- property action_range
Action range of the base controller
- control(state, reference)[source]
Calculate the reference for the underlying stage
- 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
- property i_gain
I gain of the I controller
- integrate(state, reference)[source]
Integrates the control error.
- Parameters
state (np.ndarray) – The state of the environment.
reference (np.ndarray) – The reference of the state.
- property integrator
Integrated value of the I controller
- property state_indices
Indices of the controlled states
- property tau
Sampling time of the system