Class PIDController

java.lang.Object

neqsim.process.ml.controllers.PIDController

All Implemented Interfaces:

Serializable, Controller

public class PIDController
extends Object
implements Controller

PID controller for setpoint tracking with integral and derivative action.

action = Kp * error + Ki * integral(error) + Kd * d(error)/dt

Version:

1.0

Author:

ESOL

See Also:

• Serialized Form

Field Summary

Fields

Modifier and Type	Field	Description
private final double	actionMax
private final double	actionMin
private final double	dt
private final int	errorIndex
private boolean	firstStep
private double	integral
private final double	kd
private final double	ki
private final double	kp
private final String	name
private double	previousError
private static final long	serialVersionUID

Constructor Summary

Constructors

Constructor	Description
PIDController(String name, int errorIndex, double kp, double ki, double kd, double actionMin, double actionMax, double dt)	Create PID controller.

Method Summary

Modifier and Type	Method	Description
double[]	computeAction(double[] observation)	Compute control action based on observation.
double	getIntegral()	Get current integral value.
String	getName()	Get controller name.
void	reset()	Reset controller state (for stateful controllers like PID).

Methods inherited from class Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

serialVersionUID

private static final long serialVersionUID

See Also:

• Constant Field Values

name

private final String name

errorIndex

private final int errorIndex

kp

private final double kp

ki

private final double ki

kd

private final double kd

actionMin

private final double actionMin

actionMax

private final double actionMax

dt

private final double dt

integral

private double integral

previousError

private double previousError

firstStep

private boolean firstStep

Constructor Details

PIDController

public PIDController(String name,
 int errorIndex,
 double kp,
 double ki,
 double kd,
 double actionMin,
 double actionMax,
 double dt)

Create PID controller.

Parameters:

name - controller name

errorIndex - index of error in observation array

kp - proportional gain

ki - integral gain

kd - derivative gain

actionMin - minimum action value

actionMax - maximum action value

dt - time step for integration

Method Details

computeAction

public double[] computeAction(double[] observation)

Description copied from interface: Controller

Compute control action based on observation.

Specified by:

computeAction in interface Controller

Parameters:

observation - normalized observation array

Returns:

action array

reset

public void reset()

Description copied from interface: Controller

Reset controller state (for stateful controllers like PID).

Specified by:

reset in interface Controller

getName

public String getName()

Description copied from interface: Controller

Get controller name.

Specified by:

getName in interface Controller

Returns:

name

getIntegral

public double getIntegral()

Get current integral value.

Returns:

integral