Stages

Available Stages:

• Base Controller
• Operation Point Selection
• abc Transformation
• Anti Windup
• EMF Feedforward
• Input Stage
• Continous Output Stage
• Discontinuous Output Stage

class gem_controllers.stages.stage.Stage

Bases: object

The stage is the basic module in the gem-controller structure.

__call__(state, reference)

The stages control function.

Parameters:

• state (numpy.ndarray) – The denormalized state of the environment.

• reference (numpy.ndarray) – The actual reference value for this stage.

Returns:

The new reference-value for the next state.

Return type:

numpy.ndarray

reset()

Resets the stage to an initial state (e.g. before a new episode starts).

tune(env, env_id, **kwargs)

Fits the stages parameters to the passed environment.

Parameters:

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

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

• **kwargs (dict) – Optional further parameters to tune the stages.