Struct RobustPid 

pub struct RobustPid<T: Float> { /* private fields */ }

Advanced PID controller for critical systems

Implementations

impl<T: Float> RobustPid<T>

pub fn new(config: PidConfig<T>) -> Self

Create a new PID controller with the given configuration

pub fn with_gains(kp: T, ki: T, kd: T) -> Self

Create a PID controller with default settings

pub fn set_setpoint(&mut self, setpoint: T)

Set the target setpoint

pub fn update_config(&mut self, config: PidConfig<T>)

Update configuration (allows online tuning)

pub fn config(&self) -> &PidConfig<T>

Get current configuration

pub fn update(&mut self, measurement: T, dt: T) -> ControlOutput<T>

Compute control output with variable time step

This method uses setpoint tracking mode: error = setpoint - measurement

pub fn update_from_error(&mut self, error: T, dt: T) -> ControlOutput<T>

Compute control output directly from error signal

Use this when you already have the error calculated externally. Positive error means the system needs to increase output. Negative error means the system needs to decrease output.

Example

// External error source (e.g., from sensor fusion, observer, etc.)
let error = calculate_tracking_error(); // Could be +/- value

let output = pid.update_from_error(error, dt);
// Controller will drive error toward zero

pub fn reset(&mut self)

Reset all internal state (use when switching control modes)

pub fn reset_integral(&mut self)

Reset only integral term (for integral windup recovery)

pub fn preload_integral(&mut self, value: T)

Manual integral preload (for bumpless transfer)

pub fn get_integral_term(&self) -> T

Get current integral term value

pub fn diagnostics(&self) -> PidDiagnostics<T>

Get diagnostic information

Trait Implementations

impl<T: Clone + Float> Clone for RobustPid<T>

fn clone(&self) -> RobustPid<T>

Returns a duplicate of the value.

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

Performs copy-assignment from source.