controller_optimization.hpp

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#pragma once
 
#include <cstdint>
#include <vector>
 
#include "autotune/control/control_element.hpp"
#include "autotune/control/control_loop.hpp"
#include "autotune/control/differential_evolution.hpp"
 
namespace libstp::autotune::control
{

class ControlOptimizationError
{
public:
    ControlOptimizationError(const ControlLoop& controlLoop,
                             double             stepHeight,
                             double             maxOvershot,
                             double             weightingCtrlOut,
                             double             weightingOvershot);
 
    [[nodiscard]] double calcError(double w, double y) const;
 
private:
    const ControlLoop* control_loop_;
    double             step_height_;
    double             max_overshot_;
    double             weighting_ctrl_out_;
    double             weighting_overshot_;
};

class ControllerOptimizationDifferentialEvolution final : public IDifferentialEvolutionRating
{
public:
    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);
 
private:
    static constexpr int kNumTimeSteps = 5000;
 
    double evaluate(const std::vector<double>& params,
                    double                     stepHeight,
                    double                     stepTime,
                    double                     endTime);
 
    ControlLoop&    control_loop_;
    ControlElement& control_optimization_;
 
    double step_height_{0};
    double step_time_{0};
    double end_time_{0};
 
    bool                     have_error_{false};
    ControlOptimizationError calc_error_;
};
 
} // namespace libstp::autotune::control