def __init__(self, n, A, B, C, D, Ak, Bk, Ck, Q, R, Kp, Ki, epsilon, Ts, plant):
self.reduced_model = ReducedModel(n, A, B, C, D)
self.feedback_controller = Controller(Kp, Ki, n, Ak, Bk, Ck, Q, R)
self.delay_block = DelayBlock(epsilon, Ts)
self.plant = plant
self.y_err = 0.0
self.y = 0.0
self.rm_out = 0.0
self.u = 0.0
class Model:
def __init__(self, n, A, B, C, D, Ak, Bk, Ck, Q, R, Kp, Ki, epsilon, Ts, plant):
self.reduced_model = ReducedModel(n, A, B, C, D)
self.feedback_controller = Controller(Kp, Ki, n, Ak, Bk, Ck, Q, R)
self.delay_block = DelayBlock(epsilon, Ts)
self.plant = plant
self.y_err = 0.0
self.y = 0.0
self.rm_out = 0.0
self.u = 0.0
def closed_loop(self, y_top, y_bottom):
self.rm_out = self.reduced_model.compute_y(self.u)
self.y_err = (self.rm_out - self.delay_block.get_last_entry()) + y_bottom - self.y
self.delay_block.update(self.rm_out)
controller_out = self.feedback_controller.compute_next_u(self.y_err)
self.u = y_top + controller_out
self.y = self.plant.compute_y(self.u)
return self.y
