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PiController

phyz_guardian::time_step

Struct PiController 

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pub struct PiController {
    pub tolerance: f64,
    pub alpha: f64,
    pub beta: f64,
    pub dt_min: f64,
    pub dt_max: f64,
    /* private fields */
}
Expand description

PI controller for adaptive time-stepping.

Adjusts dt based on current and previous error estimates: dt_new = dt_old * (tol/error)^α * (tol/error_prev)^β

Typical values: α = 0.4, β = 0.2 (PID without derivative term).

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§tolerance: f64

Target tolerance for local error

§alpha: f64

Proportional gain (typically 0.4)

§beta: f64

Integral gain (typically 0.2)

§dt_min: f64

Minimum allowed timestep

§dt_max: f64

Maximum allowed timestep

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impl PiController

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pub fn new(tolerance: f64, dt_min: f64, dt_max: f64) -> Self

Create a new PI controller with given tolerance.

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pub fn adjust(&mut self, current_dt: f64, error: f64) -> (f64, bool)

Compute new timestep based on current error.

Returns (new_dt, accept_step).

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pub fn reset(&mut self)

Reset controller state (e.g., after manual dt change).

Trait Implementations§

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impl Clone for PiController

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fn clone(&self) -> PiController

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 PiController

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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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impl<T> CloneToUninit for T
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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
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impl<T> From<T> for T

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fn into(self) -> U

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type Output = T

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