libstp::autotune::control::ControlLoop Class Reference

Closed unity-feedback loop: controller in series with plant. Port of ControlLoop.ts. More...

#include <control_loop.hpp>

Inheritance diagram for libstp::autotune::control::ControlLoop:

Collaboration diagram for libstp::autotune::control::ControlLoop:

Public Member Functions
	ControlLoop (ControlElement &controller, ControlElement &controlPath)
double	u () const
double	yMin () const
double	yMax () const
double	amplitude () const
std::string	getType () const override
	Short type tag, e.g. "P", "PT1", "ControlLoop".
double	getLowestTimeConstant () const override
	Lowest time constant of the element, or -1 if it has none.
void	initialize (double dt) override
	Reset internal state for a simulation run at sample time dt.
double	calculate (double w, double dt) override
	Advance one sample: feed input u, return output.
int	optimizeGetNumParameters () const override
	Number of tunable parameters this element consumes.
void	optimizeSetParameters (const std::vector< double > &params, int startIdx) override
	Load parameters from params starting at startIdx.
Public Member Functions inherited from libstp::autotune::control::ControlElement
virtual	~ControlElement ()=default

Detailed Description

Closed unity-feedback loop: controller in series with plant. Port of ControlLoop.ts.

Each step computes error e = w - y_prev, drives it through the controller to get the manipulated variable u, then through the plant to get the output y. Tracks the most recent local min/max of y (yMin/yMax) for amplitude/overshoot analysis. Does NOT own the controller/plant — they are borrowed references, matching the TypeScript constructor semantics.

Definition at line 21 of file control_loop.hpp.

Constructor & Destructor Documentation

ControlLoop()

libstp::autotune::control::ControlLoop::ControlLoop	(	ControlElement &	controller,
		ControlElement &	controlPath )

Member Function Documentation

amplitude()

double libstp::autotune::control::ControlLoop::amplitude ( ) const

inlinenodiscard

Definition at line 29 of file control_loop.hpp.

calculate()

double libstp::autotune::control::ControlLoop::calculate ( double u, double dt )

overridevirtual

Advance one sample: feed input u, return output.

Implements libstp::autotune::control::ControlElement.

getLowestTimeConstant()

double libstp::autotune::control::ControlLoop::getLowestTimeConstant ( ) const

nodiscardoverridevirtual

Lowest time constant of the element, or -1 if it has none.

Implements libstp::autotune::control::ControlElement.

getType()

std::string libstp::autotune::control::ControlLoop::getType ( ) const

inlinenodiscardoverridevirtual

Short type tag, e.g. "P", "PT1", "ControlLoop".

Implements libstp::autotune::control::ControlElement.

Definition at line 31 of file control_loop.hpp.

initialize()

void libstp::autotune::control::ControlLoop::initialize ( double dt )

overridevirtual

Reset internal state for a simulation run at sample time dt.

Implements libstp::autotune::control::ControlElement.

optimizeGetNumParameters()

int libstp::autotune::control::ControlLoop::optimizeGetNumParameters ( ) const

nodiscardoverridevirtual

Number of tunable parameters this element consumes.

Implements libstp::autotune::control::ControlElement.

optimizeSetParameters()

void libstp::autotune::control::ControlLoop::optimizeSetParameters ( const std::vector< double > & params, int startIdx )

overridevirtual

Load parameters from params starting at startIdx.

Implements libstp::autotune::control::ControlElement.

u()

double libstp::autotune::control::ControlLoop::u ( ) const

inlinenodiscard

Definition at line 26 of file control_loop.hpp.

yMax()

double libstp::autotune::control::ControlLoop::yMax ( ) const

inlinenodiscard

Definition at line 28 of file control_loop.hpp.

yMin()

double libstp::autotune::control::ControlLoop::yMin ( ) const

inlinenodiscard

Definition at line 27 of file control_loop.hpp.

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The documentation for this class was generated from the following file:

• /home/runner/work/raccoon-lib/raccoon-lib/modules/libstp-autotune/include/autotune/control/control_loop.hpp