py-feedback-controller

This library implements various feedback controllers in C++ to use in Python. As of latest, the implemented feedback controllers are:

• ordinary PID controller
• auto-optimizing PID controller

Installation

To install the package, you can either build directly of this repo or use pip:

    pip install py-feedback-controller

Usage

While the test folder of this repo has a small test script, a similar example will be shown.

    from pyfc.pid import AutoOptimizingPID

    from matplotlib.animation import FuncAnimation
    from matplotlib import pyplot as plt
    import numpy as np

    setpoint = 1.0

    pid = AutoOptimizingPID(setpoint=setpoint, lr=1.0)
    pid.init()

    z = [0.0]
    t = [0.0]
    dt = 1e-3

    fig, ax = plt.subplots()  
    line = ax.plot(t, z)[0]
            
    def func(frame):
        global setpoint
        if (frame % 500) == 0:
            if setpoint == 1.0:
                setpoint = 2.0
            elif setpoint == 2.0:
                setpoint = 1.0
                    
        pid.setSetpoint(setpoint)        
        
        pid_out = pid.requestLoop(z[frame-1])
        
        z.append(z[frame-1] + dt * pid_out)
        t.append(t[frame-1] + dt)

        line.set_xdata(t)
        line.set_ydata(z)
        ax.set_ylim(-0.1, 1.2*np.max(z))
        ax.set_xlim(0, 1.2*np.max(t))
        
    anim = FuncAnimation(fig, func, frames=10000, interval=1)
    plt.grid()
    plt.show()