controller/simulator workbench

controllersimulator.md

Some notions on making a simulator/control loop bench

With apologies to ML:

iteration :: setpoint -> system-state -> system-state
iteration sp sys = let 
    control-output = control (sp, sys.control-state, sys.dynamic-state)
    control-state' = fst control-output
    control-signal = snd control-output
    dynamic-state' = plant (control-signal, sys.dynamic-state) in
    (control-state', dynamic-state')

control :: (setpoint, control-state, dynamic-state) -> (control-state, control-signal)
control = <the controller>

plant :: (control-signal, dynamic-state) -> dynamic-state
plant = <the physics simulator>

type system-state =
    (control-state, dynamic-state)

• setpoint is more or less a bunch of constants.
• control-state is accumulated controller integrals etc
• dynamic-state is positions, velocities, forces, orientation, angular velocities, torques, etc
• control-signal is all the effector outputs