public static ControlSystemDataSample FromCloseSample(CloseLoopDataSample closeLoopSample)
{
var data = new ControlSystemDataSample();
data.time = closeLoopSample.time;
data.mode = ControlSystemMode.CloseLoop;
data.input = closeLoopSample.input;
data.error = closeLoopSample.error;
data.controllerOutput = closeLoopSample.controllerOutput;
data.systemOutput = closeLoopSample.systemOutput;
return(data);
}
public static ControlSystemDataSample FromOpenSample(BareSystemDataSample openLoopSample)
{
var data = new ControlSystemDataSample();
data.time = openLoopSample.time;
data.mode = ControlSystemMode.OpenLoop;
data.input = openLoopSample.input;
data.error = 0d;
data.controllerOutput = 0d;
data.systemOutput = openLoopSample.output;
return(data);
}
public void Initialize(double dt)
{
Data.Clear();
ControlSystemDataSample dataSample;
if (mode == ControlSystemMode.OpenLoop)
{
dataSample = ControlSystemDataSample.FromOpenSample(openScheme.Initialize(0d, dt));
Data.Add(dataSample);
}
else
{
dataSample = ControlSystemDataSample.FromCloseSample(closeScheme.Initialize(0d, dt));
Data.Add(dataSample);
}
}
public void NextIteration(double input, double time, double dt)
{
ControlSystemDataSample dataSample;
if (mode == ControlSystemMode.OpenLoop)
{
var openData = openScheme.NextIteration(input, time, dt);
dataSample = ControlSystemDataSample.FromOpenSample(openData);
}
else
{
double previousSystemOutput = Data.Last().systemOutput;
var closeData = closeScheme.NextIteration(input, previousSystemOutput, time, dt);
dataSample = ControlSystemDataSample.FromCloseSample(closeData);
}
Data.Add(dataSample);
}
