Combined Clipping Stage

class gem_controllers.stages.clipping_stages.combined_clipping_stage.CombinedClippingStage(control_task='CC')[source]

This clipping stage combines the absolute clipping and the squared clipping.

__call__(state, reference)[source]

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 clipping_difference: ndarray

Difference between the reference and the clipped reference

reset()[source]

Reset the combined clipping stage

tune(env, env_id, margin=0.0, squared_clipped_state=array([0, 1]), absoulte_clipped_states=array([2]))[source]

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.

  • squared_clipped_state (np.ndarray) – Indices of the squared clipped states.

  • absoulte_clipped_states (np.ndarray) – Indices of the absolute clipped states.