Clipping Stages

• Absolute Clipping Stage
• Squared Clipping Stage
• Combined Clipping Stage

Clipping Stage

class gem_controllers.stages.clipping_stages.clipping_stage.ClippingStage

This is the base class for all clipping stages.

__call__(state: ndarray, reference: ndarray) → ndarray

Clips a reference to the limits.

Parameters

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

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

Returns

The reference of a controller stage clipped to the limit.

Return type

clipped_reference(np.ndarray)

property clipped: ndarray

Flag, if the references have been clipped

property clipping_difference: ndarray

Difference between the reference and the clipped reference

tune(env: ElectricMotorEnvironment, env_id: str, margin: float = 0.0, **kwargs)

Set the limits for the clipped states.

Parameters

• env (gym_electric_motor.ElectricMotorEnvironment) – The environment to be controlled.

• env_id (str) – The id of the environment.

• margin (float) – Percentage, how far the value should be clipped below the limit.