PID-gain optimization via DE. Port of ControllerOptimizationDifferentialEvolution.ts. More...

#include <controller_optimization.hpp>

Inheritance diagram for libstp::autotune::control::ControllerOptimizationDifferentialEvolution:

Collaboration diagram for libstp::autotune::control::ControllerOptimizationDifferentialEvolution:

Public Member Functions
	ControllerOptimizationDifferentialEvolution (ControlLoop &controlLoop, ControlElement &controlOptimization)
std::vector< double >	optimize (double limitMinParams, double limitMaxParams, bool dither, int maxNumSteps, double stepHeight, double stepTime, double endTime, double maxOvershot, double weightingCtrlOut, double weightingOvershot, std::uint32_t seed=0xC0FFEEu)
double	rateCandidate (const std::vector< double > &paramList) override
void	setStep (double stepHeight, double stepTime, double endTime, double maxOvershot, double weightingCtrlOut, double weightingOvershot)
Public Member Functions inherited from libstp::autotune::control::IDifferentialEvolutionRating
virtual	~IDifferentialEvolutionRating ()=default

Detailed Description

PID-gain optimization via DE. Port of ControllerOptimizationDifferentialEvolution.ts.

Simulates the closed loop over a fixed number of time steps (NUM_TIME_STEPS = 5000) for each candidate gain vector and accumulates the weighted step error. Implements IDifferentialEvolutionRating.

Definition at line 48 of file controller_optimization.hpp.

Constructor & Destructor Documentation

◆ ControllerOptimizationDifferentialEvolution()

libstp::autotune::control::ControllerOptimizationDifferentialEvolution::ControllerOptimizationDifferentialEvolution	(	ControlLoop &	controlLoop,
		ControlElement &	controlOptimization )

Member Function Documentation

◆ optimize()

std::vector< double > libstp::autotune::control::ControllerOptimizationDifferentialEvolution::optimize	(	double	limitMinParams,
		double	limitMaxParams,
		bool	dither,
		int	maxNumSteps,
		double	stepHeight,
		double	stepTime,
		double	endTime,
		double	maxOvershot,
		double	weightingCtrlOut,
		double	weightingOvershot,
		std::uint32_t	seed = 0xC0FFEEu )

◆ rateCandidate()

double libstp::autotune::control::ControllerOptimizationDifferentialEvolution::rateCandidate ( const std::vector< double > & paramList )

overridevirtual

Implements libstp::autotune::control::IDifferentialEvolutionRating.

◆ setStep()

void libstp::autotune::control::ControllerOptimizationDifferentialEvolution::setStep	(	double	stepHeight,
		double	stepTime,
		double	endTime,
		double	maxOvershot,
		double	weightingCtrlOut,
		double	weightingOvershot )

Configure the rating state directly (normally done by optimize()). Exposed for direct cost-function testing.

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