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PidController

oxiphysics_core::control_theory

Struct PidController

pub struct PidController {
    pub kp: f64,
    pub ki: f64,
    pub kd: f64,
    pub n: f64,
    pub integral_limit: f64,
    pub out_min: f64,
    pub out_max: f64,
    pub integral: f64,
    pub deriv_filter: f64,
    pub prev_error: f64,
}

Expand description

A PID controller with anti-windup, derivative filter, and output clamping.

Implements the parallel form: u = Kp*e + Ki*integral(e) + Kd*derivative(e)

Anti-windup: integral is clamped to [-integral_limit, integral_limit]. Derivative filter: low-pass via N-pole (derivative filter coefficient). Output clamping: output is clamped to [out_min, out_max].

Fields§

§kp: f64

Proportional gain.

§ki: f64

Integral gain.

§kd: f64

Derivative gain.

§n: f64

Derivative filter coefficient (N = filter pole; larger = less filtering).

§integral_limit: f64

Maximum absolute value of the integral term (anti-windup limit).

§out_min: f64

Minimum output value.

§out_max: f64

Maximum output value.

§integral: f64

Accumulated integral state.

§deriv_filter: f64

Previous filtered derivative state.

§prev_error: f64

Previous error (for derivative computation).

Implementations§

impl PidController

pub fn new(kp: f64, ki: f64, kd: f64) -> Self

Create a new PID controller.

pub fn with_n(self, n: f64) -> Self

Set derivative filter coefficient (default 10.0).

pub fn with_integral_limit(self, limit: f64) -> Self

Set integral anti-windup limit.

pub fn with_output_limits(self, min: f64, max: f64) -> Self

Set output clamping limits.

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

Compute control output given error and time step dt.

pub fn reset(&mut self)

Reset internal state.

Trait Implementations§

impl Clone for PidController

fn clone(&self) -> PidController

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

impl Debug for PidController

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

Formats the value using the given formatter. Read more

Auto Trait Implementations§

impl Freeze for PidController

impl RefUnwindSafe for PidController

impl Send for PidController

impl Sync for PidController

impl Unpin for PidController

impl UnsafeUnpin for PidController

impl UnwindSafe for PidController

Blanket Implementations§

impl<T> Any for T
where T: 'static + ?Sized,

fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

impl<T> Borrow<T> for T
where T: ?Sized,

fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

impl<T> BorrowMut<T> for T
where T: ?Sized,

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

Mutably borrows from an owned value. Read more

impl<T> CloneToUninit for T
where T: Clone,

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

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

Performs copy-assignment from self to dest. Read more

impl<T> From<T> for T

fn from(t: T) -> T

Returns the argument unchanged.

impl<T, U> Into<U> for T
where U: From<T>,

fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

impl<T> Same for T

type Output = T

Should always be Self

impl<SS, SP> SupersetOf<SS> for SP
where SS: SubsetOf<SP>,

fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more

fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).

fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.

fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.

impl<T> ToOwned for T
where T: Clone,

type Owned = T

The resulting type after obtaining ownership.

fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more

fn clone_into(&self, target: &mut T)

Uses borrowed data to replace owned data, usually by cloning. Read more

impl<T, U> TryFrom<U> for T
where U: Into<T>,

type Error = Infallible

The type returned in the event of a conversion error.

fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

Performs the conversion.

impl<T, U> TryInto<U> for T
where U: TryFrom<T>,

type Error = <U as TryFrom<T>>::Error

The type returned in the event of a conversion error.

fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

Performs the conversion.