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 CloseLoopDataSample Initialize(double currentTime, double dt)
{
controller.Initialize(dt);
double systemOutput = system.Initialize(dt);
CloseLoopDataSample dataSample = new CloseLoopDataSample()
{
time = currentTime,
input = 0d,
error = 0d,
controllerOutput = 0d,
systemOutput = systemOutput
};
return(dataSample);
}
public CloseLoopDataSample NextIteration(double input, double previousSystemOutput,
double currentTime, double dt)
{
double error = input - previousSystemOutput;
double controllerOutput = controller.NextIteration(error, previousSystemOutput, dt);
double systemOutput = system.NextIteration(controllerOutput, currentTime, dt);
CloseLoopDataSample dataSample = new CloseLoopDataSample()
{
time = currentTime,
input = input,
error = error,
controllerOutput = controllerOutput,
systemOutput = systemOutput
};
return(dataSample);
}
