libstp::autotune::control::ControlOptimizationError Class Reference

Weighted step-response error for controller tuning. Port of ControlOptimizationError.ts. More...

#include <controller_optimization.hpp>

Public Member Functions
	ControlOptimizationError (const ControlLoop &controlLoop, double stepHeight, double maxOvershot, double weightingCtrlOut, double weightingOvershot)
double	calcError (double w, double y) const

Detailed Description

Weighted step-response error for controller tuning. Port of ControlOptimizationError.ts.

Per-sample cost = (w - y)^2, plus a penalty proportional to control-output overshoot above stepHeight (weightingCtrlOut) and a penalty proportional to plant-output overshoot above stepHeight + maxOvershot (weightingOvershot).

Definition at line 21 of file controller_optimization.hpp.

Constructor & Destructor Documentation

ControlOptimizationError()

libstp::autotune::control::ControlOptimizationError::ControlOptimizationError	(	const ControlLoop &	controlLoop,
		double	stepHeight,
		double	maxOvershot,
		double	weightingCtrlOut,
		double	weightingOvershot )

Member Function Documentation

calcError()

double libstp::autotune::control::ControlOptimizationError::calcError ( double w, double y ) const

nodiscard

---

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

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