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ClosedLoopSimulator

oxirs_physics::control_systems

Struct ClosedLoopSimulator 

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pub struct ClosedLoopSimulator { /* private fields */ }
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Closed-loop simulator combining a PID controller with a plant.

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impl ClosedLoopSimulator

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pub fn new(controller: PidController, plant: SystemPlant) -> Self

Create a new closed-loop simulator.

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pub fn simulate(&mut self, setpoint: f64, steps: usize, dt: f64) -> Vec<f64>

Run the closed-loop simulation for steps time steps of size dt.

Returns the output trace (one value per step).

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pub fn steady_state_error(&self, setpoint: f64) -> f64

Steady-state error: difference between the last recorded output and setpoint.

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pub fn settling_time(&self, setpoint: f64, tolerance: f64) -> Option<usize>

Index of the first step at which |error| < tolerance * |setpoint|. Returns None if the system never settles within the trace.

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