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AdaptiveController

oxiphysics_core::control

Struct AdaptiveController 

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pub struct AdaptiveController {
    pub bm: f64,
    pub am: f64,
    pub theta: f64,
    pub gamma: f64,
    pub ym: f64,
    pub y: f64,
    pub sens_int: f64,
}
Expand description

Model Reference Adaptive System (MRAS) controller using the MIT rule for parameter adaptation.

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§bm: f64

Reference model numerator (first order: [b_m]).

§am: f64

Reference model denominator pole (am).

§theta: f64

Adaptive parameter θ (scalar for SISO first order).

§gamma: f64

Adaptation gain γ.

§ym: f64

Reference model state.

§y: f64

Plant output.

§sens_int: f64

Integral of sensitivity signal.

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impl AdaptiveController

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pub fn new(bm: f64, am: f64, gamma: f64) -> Self

Create with reference model parameters and adaptation gain.

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pub fn update(&mut self, r: f64, y_plant: f64, dt: f64) -> f64

Update the adaptive controller. r is reference input, y_plant is measured plant output, dt is time step. Returns the control signal u.

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pub fn reset(&mut self)

Reset state.

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impl Clone for AdaptiveController

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fn clone(&self) -> AdaptiveController

Returns a duplicate of the value. Read more
1.0.0 (const: unstable) · Source§

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more
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impl Debug for AdaptiveController

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fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter. Read more

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fn borrow_mut(&mut self) -> &mut T

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unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)
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