import sys
sys.path.append('..') # add parent directory
import matplotlib.pyplot as plt
import pendulumParam as P
from hw3.pendulumDynamics import pendulumDynamics
from pendulumController import pendulumController
from hw2.signalGenerator import signalGenerator
from hw2.pendulumAnimation import pendulumAnimation
from hw2.dataPlotter import dataPlotter
# instantiate pendulum, controller, and reference classes
pendulum = pendulumDynamics()
controller = pendulumController()
reference = signalGenerator(amplitude=0.5, frequency=0.05)
disturbance = signalGenerator(amplitude=0.1)
# instantiate the simulation plots and animation
dataPlot = dataPlotter()
animation = pendulumAnimation()
t = P.t_start # time starts at t_start
y = pendulum.h() # output of system at start of simulation
while t < P.t_end: # main simulation loop
# Propagate dynamics in between plot samples
t_next_plot = t + P.t_plot
while t < t_next_plot: # updates control and dynamics at faster simulation rate
r = reference.square(t) # reference input
d = disturbance.step(t) # input disturbance
n = 0.0 #noise.random(t) # simulate sensor noise
x = pendulum.state
u = controller.update(r, x) # update controller
import sys
sys.path.append('..') # add parent directory
import matplotlib.pyplot as plt
import numpy as np
import pendulumParam as P
from hw3.pendulumDynamics import pendulumDynamics
from pendulumController import pendulumController
from hw2.signalGenerator import signalGenerator
from hw2.pendulumAnimation import pendulumAnimation
from hw2.dataPlotter import dataPlotter
# instantiate pendulum, controller, and reference classes
pendulum = pendulumDynamics(alpha=0.2)
controller = pendulumController()
reference = signalGenerator(amplitude=0.5, frequency=0.05)
disturbance = signalGenerator(amplitude=0.5)
noise_z = signalGenerator(amplitude=0.001)
noise_th = signalGenerator(amplitude=0.001)
# instantiate the simulation plots and animation
dataPlot = dataPlotter()
animation = pendulumAnimation()
t = P.t_start # time starts at t_start
y = pendulum.h() # output of system at start of simulation
while t < P.t_end: # main simulation loop
# Get referenced inputs from signal generators
# Propagate dynamics in between plot samples
t_next_plot = t + P.t_plot