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@theodoregoetz
Last active August 29, 2015 14:25
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PID Controller
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{
"metadata": {
"name": "",
"signature": "sha256:5b6a9803070e1d78ec411460407d1630cd7d316d7a30189e3ea19cf303551447"
},
"nbformat": 3,
"nbformat_minor": 0,
"worksheets": [
{
"cells": [
{
"cell_type": "code",
"collapsed": false,
"input": [
"%run -i '../Common.ipynb'"
],
"language": "python",
"metadata": {},
"outputs": [],
"prompt_number": 1
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"xx = np.linspace(-1,1,100)\n",
"pyplot.plot(xx,13* (2/np.pi)*np.arctan(1*xx))"
],
"language": "python",
"metadata": {},
"outputs": [
{
"metadata": {},
"output_type": "pyout",
"prompt_number": 2,
"text": [
"[<matplotlib.lines.Line2D at 0x7f9352caf0f0>]"
]
},
{
"metadata": {},
"output_type": "display_data",
"png": 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"text": [
"<matplotlib.figure.Figure at 0x7f936d7aeda0>"
]
}
],
"prompt_number": 2
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"class Controller(object):\n",
" '''Single Axis PID Controller\n",
" goals:\n",
" self-tuning\n",
" edge-case switching to PD or PI\n",
" '''\n",
" \n",
" def __init__(self):\n",
" # set point\n",
" self.set_point = 0\n",
" \n",
" # time and proportional term of previous call, integral\n",
" self.t0 = 0\n",
" self.I = 0\n",
" self.P0 = 0\n",
" \n",
" # control constants\n",
" self.kp = 1\n",
" self.ki = 0\n",
" self.kd = 0\n",
" \n",
" # response value of previous call\n",
" self.c = 0\n",
" \n",
" def __call__(self,x,t):\n",
" # just return previous value if no time has passed\n",
" if np.isclose(t,self.t0):\n",
" return self.c\n",
" \n",
" # bring instance variables into local scope\n",
" xset = self.set_point\n",
" kp = self.kp\n",
" ki = self.ki\n",
" kd = self.kd\n",
" t0 = self.t0\n",
" I = self.I\n",
" P0 = self.P0\n",
" \n",
" if all([np.isclose(k,0) for k in [kp,ki,kd]]):\n",
" self.t0 = t\n",
" return xset\n",
" \n",
" # calculate PID control\n",
" \u0394t = t - t0\n",
" P = xset - x\n",
" I += P * \u0394t\n",
" D = (P - P0) / \u0394t\n",
" \n",
" c = kp*P + ki*I + kd*D\n",
"\n",
" # save parameters to class instance\n",
" self.t0 = t\n",
" self.I = I\n",
" self.P0 = P\n",
" self.c = c\n",
"\n",
" return c"
],
"language": "python",
"metadata": {},
"outputs": [],
"prompt_number": 3
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"\u03c0 = np.pi\n",
"arctan = np.arctan\n",
"\n",
"class Device(object):\n",
" def __init__(self):\n",
" # position, velocity, acceleration\n",
" self.x = 0\n",
" self.v = 0\n",
" \n",
" # mass, drag, spring-constant, spring equilibrium point\n",
" self.m = 1\n",
" self.b = 0\n",
" self.k = 0\n",
" self.x0 = 0\n",
" \n",
" # gain, sensitivity\n",
" self.g = 1\n",
" self.s = 1\n",
" \n",
" def control_force(self,c):\n",
" \n",
" # bring instance variables into local scope\n",
" g = self.g\n",
" s = self.s\n",
" \n",
" return g * (2/\u03c0) * arctan((s/g) * c)\n",
" \n",
" def force(self,c):\n",
" \n",
" # bring instance variables into local scope\n",
" x = self.x\n",
" v = self.v\n",
" b = self.b\n",
" k = self.k\n",
" x0 = self.x0\n",
" \n",
" F = self.control_force(c)\n",
" \n",
" return F - b*v - k*(x - x0)\n",
" \n",
" def __call__(self,c,\u0394t):\n",
" '''\n",
" \u03a3F = \u0394p / \u0394t\n",
" \u03a3F = m * \u0394v / \u0394t\n",
" v = v + (\u03a3F/m)*\u0394t\n",
" x = x + v*\u0394t\n",
" '''\n",
" # bring instance variables into local scope\n",
" x = self.x\n",
" v = self.v\n",
" m = self.m\n",
" \n",
" # sum of forces\n",
" \u03a3F = self.force(c)\n",
" \n",
" # change in velocity and position\n",
" x = x + v*\u0394t\n",
" v = v + (\u03a3F/m)*\u0394t\n",
" \n",
" # save parameters to class instance\n",
" self.x = x\n",
" self.v = v\n",
" \n",
" return x,v"
],
"language": "python",
"metadata": {},
"outputs": [],
"prompt_number": 197
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"def plot_behavior(xset,kp,ki,kd,m,b,k,g=1,s=1, total_time=10, npoints=100):\n",
" \n",
" dev = Device()\n",
" dev.m = m\n",
" dev.b = b\n",
" dev.k = k\n",
" dev.g = g\n",
" dev.s = s\n",
" \n",
" cont = Controller()\n",
" cont.kp = kp\n",
" cont.ki = ki\n",
" cont.kd = kd\n",
" \n",
" tt = np.linspace(0,total_time, npoints)\n",
" \n",
" xx0 = np.zeros(tt.shape)\n",
" xx0[5:] = xset\n",
" \n",
" xx = [0]\n",
" vv = [0]\n",
" aa = [0]\n",
" \n",
" t0 = tt[0]\n",
" for t,x0 in zip(tt[1:],xx0[1:]):\n",
" cont.set_point = x0\n",
" a = cont(dev.x,t)\n",
" x,v = dev(a,t-t0)\n",
" aa.append(a)\n",
" xx.append(x)\n",
" vv.append(v)\n",
" t0 = t\n",
" \n",
" fig,ax = pyplot.subplots(1,2,figsize=(10,3))\n",
" ptset, = ax[1].plot(tt, xx0, color='blue',label='set point')\n",
" ptcont, = ax[1].plot(tt, aa, color='red',label='control')\n",
" ptval, = ax[0].plot(tt, xx, color='green',label='actual')\n",
" ptvel, = ax[1].plot(tt, vv, color='magenta',label='velocity')\n",
" ax[0].margins(0,0.1)\n",
" ax[1].margins(0,0.1)\n",
" l = ax[1].legend((ptset,ptcont,ptval,ptvel), ('set point','control','actual','velocity'),\n",
" loc='best')\n",
" l.set_zorder(1)"
],
"language": "python",
"metadata": {},
"outputs": [],
"prompt_number": 162
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"plot_behavior(xset=1, kp=0, ki=0, kd=0, m=1, b=10, k=20, total_time=3, npoints=100)"
],
"language": "python",
"metadata": {},
"outputs": [
{
"metadata": {},
"output_type": "display_data",
"png": 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8zjzzTNxuNykpKWRlZdV4nHcXJEDr1q0pKSmpXHY6nRw6dKhy+Z577qFPnz5k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\nQQAAAABJRU5ErkJggg==\n",
"text": [
"<matplotlib.figure.Figure at 0x7f9352c85780>"
]
}
],
"prompt_number": 163
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"plot_behavior(xset=1, kp=300, ki=0, kd=0, m=1, b=10, k=20, g=300, s=1, total_time=2, npoints=100)\n",
"plot_behavior(xset=1, kp=300, ki=0, kd=0, m=1, b=10, k=20, g=1000, s=1, total_time=2, npoints=100)\n",
"plot_behavior(xset=1, kp=300, ki=0, kd=0, m=1, b=10, k=20, g=1000, s=2, total_time=2, npoints=100)"
],
"language": "python",
"metadata": {},
"outputs": [
{
"metadata": {},
"output_type": "display_data",
"png": 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vvZcbb7wRUH2vzp49y6hRozh+/DhNmjRhwYIFREZG8txzz/H444/z7LPP8uKL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\n",
"text": [
"<matplotlib.figure.Figure at 0x7f9352756e10>"
]
},
{
"metadata": {},
"output_type": "display_data",
"png": 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Gy90LT3dPPNw8cDe44+7mTscmHcHVMlYPPghXXqkezZGeroKrjAx1l6BwOZKx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\nEEIIIYQQQgghhBBCCCGEEEIIIRzU/wP3615PA+vMpwAAAABJRU5ErkJggg==\n",
"text": [
"<matplotlib.figure.Figure at 0x7f93527e95c0>"
]
},
{
"metadata": {},
"output_type": "display_data",
"png": 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HAY0Jp7Rrp5RcsCRbtsDIkVVfb90aiouhTO6ORFIbqfPCytQegWXxcfIhJTeF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\nj/p/kDX7UqcqlzgAAAAASUVORK5CYII=\n",
"text": [
"<matplotlib.figure.Figure at 0x7f93527a8d68>"
]
}
],
"prompt_number": 199
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"plot_behavior(xset=1, kp=30, ki=70, kd=0, m=1, b=10, k=20, g=30, s=3, total_time=4, npoints=200)"
],
"language": "python",
"metadata": {},
"outputs": [
{
"metadata": {},
"output_type": "display_data",
"png": 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YOZpcVER8KNz6WFWkbl149FH45hvIyIB27WDqVMjLsztnYpPXX3+dPn1q9qDY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\nIiIiIrXU/wdfr8S0rl9klwAAAABJRU5ErkJggg==\n",
"text": [
"<matplotlib.figure.Figure at 0x7f93524ddc18>"
]
}
],
"prompt_number": 210
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"plot_behavior(xset=1, kp=350, ki=300, kd=50, m=1, b=10, k=20, g=100, s=3, total_time=4, npoints=400)"
],
"language": "python",
"metadata": {},
"outputs": [
{
"metadata": {},
"output_type": "display_data",
"png": 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f//rXHD58uMnnCwoKSE9Pb5A2YMAACgoKyMvLIzExkZ49e7a5XlFRUVx11VWs\nWLECwzBYtWoV11xzTfsO0sfsQrsUINdjPQ/zW56nIUAEZsMWhzlHYcWpVsxtuNn9/W6G9Rp2qrsS\nka7JjTkU2BN4E3M40JNhvXwiMzMTvvkGANfnn+OaMMFXuxZpXQDj+CuuuILbb7+d/Px8XnvtNT75\n5BN69OhBZGQkR44cwelsvX8mJSWFV155pUHavn37mDBhAmlpaRQVFVFSUmIbXDkcTSPDWbNmce21\n1zJu3Diio6MZO7ZxeNI2WVlZZGVlndI+wL7HypsfZwRwJnApcAnwP5jB1inJK82jZ1RPeka1PZIV\nkZBSAvwLcxJ6IdDPSk8GDlnL+UCax2dSMb8o5lvLnun5zRWSmZlJ5owZZAKu00/3Vd1FglqfPn1w\nuVxcd911DBw4kGHDhpGcnMzFF1/MvHnzKCsrw+12s3fvXj744IMmn58wYQJ79uxh5cqVVFdXs3r1\nanbt2sWkSZPo168fEyZM4JZbbuHo0aNUVVU1uw+ApKSkumG/Wueddx4Oh4Pf/e53XHvttad8rC6X\ny/w7t17tZRdYNW6M0mjYbQ5mj9ZbwAngCPABMLq5nXlW2C4q3HNkD0N7DbWpnogEk6ysLJ80TF7o\nTf0Vf92Bn2FeQLMGmGWlzwJes5bXANMw52OdhvnlbwtwECjF7Il3ANd4fKYpPStQQtCMGTN49913\nmTFjRl3a8uXLOXnyJCNHjiQxMZErr7ySgwcPAmbvUm0PU69evVi3bh33338/vXv35r777mPdunUk\nJiYC5tyoiIgIhg8fTlJSEkuXLq0rw7OX6s4772ThwoUkJCTwwAMP1KVfe+21fPnll8ycOdOv56At\n7EZdw4HdwE+BAsyGaDrwtUee4ZgT3C8BIjEvgf4F5iXQnoy23IPi75/+na0FW3lqylNef0ZEgovV\nMLZzdkerTsecnO60XiuAezFvt/APIB1zbuhVwFHrM3cB1wPVwFzM4UMwe7qexwzQ1gO/baY8s/1a\nswamToXXX4cpU3x/VBKSOtM9moLNihUreOqpp1rs6fJGS+e/ve2X3RyramAOZgMUBjyDGVTdZG1/\nAvNWDBuALzDnPDxF06CqzbKLshmcOPhUdyMiXdOXmFMQGisCLmrhM/dYr8a2YgZq9vSsQJGgcfz4\ncR599FHmzJkT6Ko04M19rN4AhgGDqb8J3xPWq9Z9wA8wG6el+MDe4r0KrEQkuOiqQJGg8Oabb9K3\nb1+Sk5P/Fg87AAARI0lEQVQbDFEGg8Df8KEF2UXZDEocFOhqiIjUU2AlEhQuueSSuhuXBpugfKSN\nYRh8W/wtgxIUWIlIEFFgJSI2gjKwOlB+gNhuscRFxgW6KiIi9fSsQBGxEZSBlSaui0hQUo+ViNgI\nysBqb5EmrotIEFJgJSI2gnLyenZRtuZXiUjwUWAlfpCQkNDsI1ukYyQkJPh0f0EZWO0t3suUYbr5\nnogEGd3HSvygqKgo0FUQHwrKoUD1WIlIUFKPlYjYCLrAyjAMTV4XkeCkZwWKiI2gC6yKThThcDhI\n7J4Y6KqIiDSkHisRsRF0gVXtMKAm8olI0NEcKxGxEZSBlYYBRSQoqcdKRGwEXWC1t3ivJq6LSHBS\nYCUiNoIusFKPlYgELQVWImIj6AKr745+x2kJpwW6GiIiTelZgSJiI+gCq/zSfFJ7pAa6GiIiTanH\nSkRsBFVgZRgGBWUF9I/rH+iqiEhwSwPeB74CdgC/tdITgbeBPcBbQLzHZ+4EvgF2ARd7pJ8FfGlt\ne6jVUhVYiYgNbwKr8ZgN0TfA/FbynQNUA5e3tzLFFcV0j+hOdER0e3chIqGhCvgv4AfAucBvgBHA\nHZiB1VDgXWsdYCTwC+t9PPAYUHtPl8eBG4Ah1mt8i6UqsBIRG3aBVRjwCGZDMxKYjtl4NZdvMbCB\n+saqzfJL89VbJSLeOAh8bi2XA18DKcAUYJmVvgz4ubU8FViJGZDlANnAWCAZiAO2WPmWe3ymKd3H\nSkRs2AVWYzAboBzMBmkVZgPV2K3A/wMOn0plNAwoIu2QAZwBbAaSgEIrvdBaB+gP5Hl8Jg8zEGuc\nnm+lN089ViJiwy6wSgFyPdZrG6PGeaZidqcDtLvFKSgrICWu5TZNRKSRWOCfwFygrNE2g1Noj5ql\nZwWKiI1wm+3etB4PYs5jMDCHAds9FKgeKxFpgwjMoGoF8JqVVgj0wxwqTAYOWen5mBPea6ViflHM\nt5Y90/ObKywzMxP+938BcO3Zg8sHByAiwSMrK4usrKxT3o9dYNW4MUqjYbc5mFfUrLKWewMTMIcN\n1zTeWWZmZt2yy+XC5XI1LKwsn5F9RtrXWkSCkq8aJi84gGeAnZhf7mqtAWZhzvmcRX3AtQZ4CXgA\ns5d9COa8KgMoxZxvtQW4BljaXIGZmZnw6KOwfj0M0tMhRLqaxnHJ3Xff3a792AVWn2I2QBlAAeZV\nNdMb5RnosfwcsJZmgipoGFg1p6CsgJ8N/JlNlUQkWPmqYfLCOGAm8AWwzUq7E/gr8A/Mq/xygKus\nbTut9J2YVy/fQn2P/C3A80B3YD3mRTjN0xwrEbFhF1hVA3OANzGv/HsG8+qbm6ztT/iyMhoKFBEv\nfUjLc0QvaiH9HuvV2FbgdK9KVWAlIjbsAiuAN6yXp5YCql+eSmXyy3S7BREJYgqsRMRG0Nx5vcZd\nw+Fjh+kX2y/QVRERaZ6eFSgiNoImsDp07BCJ3ROJCIsIdFVERJqnHisRsRE0gZWGAUUk6CmwEhEb\nQRNYFZQVkNJDNwcVkSCmwEpEbARVYNU/Vj1WIhLE9KxAEbERNIGVHsAsIkFPPVYiYiNoAisNBYpI\n0NOzAkXERvAEVuW6OaiIBDn1WImIjaAJrDQUKCJBT3OsRMRG0ARWBWUFpMRpKFBEgph6rETERlAE\nVpXVlZSdLKNXdK9AV0VEpGUKrETERlAEVgfKD9Avth9OR1BUR0SkeQqsRMRGUEQy+aX5GgYUkeCn\nZwWKiI2gCKwKynRFoIh0AuqxEhEbCqxERLxlGOB0KrASkRYFRWCVX6ahQBHpBAwDwsIUWIlIi7wN\nrMYDu4BvgPnNbL8a2A58AXwEjGpLJdRjJSLt8CxQCHzpkZYIvA3sAd4C4j223YnZhu0CLvZIP8va\nxzfAQ62WWNtjpTlWItICbwKrMOARzOBqJDAdGNEoz7fAjzEDqr8AT7alEgqsRKQdnsNslzzdgRlY\nDQXetdbBbLt+Yb2PBx4DHNa2x4EbgCHWq/E+62koUERseBNYjQGygRygClgFTG2UZxNQYi1vBlLb\nUon8snw9J1BE2mojUNwobQqwzFpeBvzcWp4KrMRsw3Iw27SxQDIQB2yx8i33+ExTbreGAkWkVd4E\nVilArsd6npXWkhuA9d5WwDAMPc5GRHwlCXN4EOs9yVruj9l21aptxxqn59Na+6YeKxGxEe5Fnra0\nIBcA1wPjvP1ASWUJToeTHpE92lCMiIgtg7a1X17sUXOsRKR13gRW+UCax3oaDb/h1RoFPIU5P6Fx\n9zwAmZmZdcsulwuXy0VeaR5pPdOayy4inUxWVhZZWVmBrEIh0A84iDnMd8hKb9yOpWK2Y/k0nLqQ\naqU1kZmZCRs3QmUlrv37cfm23iISYL5qvxz2WQgHdgM/BQow5yJMB772yJMOvAfMBD5pYT+G0Uz3\n+YbsDSz5ZAlvznyzDdUWkc7A4XCAd+1Me2UAa4HTrfW/AUeAxZgT1+Ot95HAS5hzRlOAd4DBmD1a\nm4HfYrZt/wKWAhsalWO2X/Pnw/PPw9VXwwMP+O+oRCTg2tt+edNjVQ3MAd7EvELwGcyg6iZr+xPA\nn4AEzKtrwJwgOsabCuSV5pEa16a57iIiYE5G/wnQG3Me6J+AvwL/wJzrmQNcZeXdaaXvxGzTbqF+\nmPAW4HmgO+b80MZBVT3NsRIRG94EVgBvWC9PT3gs32i92iyvNI/UHgqsRKTNpreQflEL6fdYr8a2\nUt/j1Tq3W3OsRKRVAb/zem5JrgIrEekcdOd1EbER8MAqr0w9ViLSSWgoUERsBD6w0lCgiHQWCqxE\nxIYCKxERb9UOBWqOlYi0IKCBVWllKTXuGuKj4u0zi4gEmuZYiYiNgAZWeaV5pPRIqb1XhIhIcNNQ\noIjYCGhg9V3xdwxMGBjIKoiIeE+3WxARGwENrLKLshmcMDiQVRAR8Z56rETERuADq0QFViLSSWiO\nlYjYCGxgVazASkQ6EQVWImJDPVYiIt6qHQrUHCsRaUHAAquqmipyS3LJiM8IVBVERNpGPVYiYiNg\ngdX+kv0kxyUTGR4ZqCqIiLSN2w2xsVBQEOiaiEiQClhgpWFAEel0DAOmTIGdO2Hr1kDXRkSCUEAD\nq0EJgwJVvIhI2xkGREfDHXfAn/4U6NqISBAKWGD15aEv+UGfHwSqeBGRtjMMcDjgV7+CXbvg7bcD\nXSMRCTIBC6y2HdzGGclnBKp4EZG2qw2sIiPhgQdg7lyoqgp0rUQkiHgTWI0HdgHfAPNbyLPU2r4d\nsI2Wqt3V7Di0g9FJo72tp4iIP3nTztUHVmDOtUpPh4cf7oj6iUgnYRdYhQGPYDY6I4HpwIhGeS4F\nBgNDgNnA43aFbj+4nYz4DOIi49pcYRERH/OmnTO53fWBlcMBDz0EixbBt992TE1FJOjZBVZjgGwg\nB6gCVgFTG+WZAiyzljcD8UBSazt9+9u3uei0i9paVxERf/CmnTN59lgBDBsGd90F114L1dV+r6iI\nBD+7wCoFyPVYz7PS7PKktrRDwzB4bddrXDzo4rbUU0TEX7xp50y1d173NHcu9OwJs2eb2wsKYMkS\n+PBDc/3IEXjnHcjLM/NXVpoT37//3tx+4gTk5sLx4/VlHD9eP3fL7TbzVFaay9XVUFFhbjcMc72y\nsv518mTTV1WVma+mxtyHbnAq4jfhNtu9/etzNFpv9nMz/jmDE9UnKK4oZvzg8V7uWkTEr7xq50q6\nfUb36lsofG0wx26FMHdtw+fEaayh//FsWL6HiJpKjkVcRlRNGQ7jC5xGDZVhKXRzFwKHcBpVVDu7\nEebei4NswKDGEUaYsR8ABzUYOHBgYGDgwI2BAzBw4sawKuyo2+Z5AG6PtfrU+gbaaNJYS+jomHBa\nQbtdYJUPpHmsp2F+m2stT6qV1kTlO5U4cXJx3MVs/GAjLperjdUVkWCWlZVFVlZWoKvRVt60c/xh\n+GPggIrEJEYP/xlnDHNh1EUpYRRUDyRhzycc7zuQyl4p4HYTfWgflT2TcEdGQ00NEWVFVEfHQ3gE\nGAZhFcep6dYdc/DAIOxkBe6wbuAMA7cbZ001hjPCHH40AMMMucAKltxG3TYHNBdTtcKg6Xfi9nN0\ndMRm0+vW4fXxRiDr1Mz58vk5OsWYKtA/s0+/y+LTnH+bK4YB/27ffuwOIxzYDfwUKAC2YE7s/Noj\nz6XAHOv9XOBB670xw1D3s0hIcZgtZTD+i/PkTTun9kskxLS3/bLrsarGDJrexLxy5hnMxuYma/sT\nwHrMoCobOAb8sq2VEBEJoJbaORGRNuvIb5L6xicSYjpJj5U31H6JhJj2tl8Bu/O6iIiISFejwEpE\nRETERxRYiYiIiPiIAisRERERH1FgJSIiIuIjCqxEREREfCRkAqtA3g060HeiDuXyQ/nYg6F88Y1A\n/xz1N6zyQ63sU6HAqouXHerlh/KxB0P54huB/jnqb1jlh1rZpyJkAisRERERf1NgJSIiIuIjHfmo\nic+B0R1YnogE3nbgh4GuhA+o/RIJPV2l/RIRERERERERERERERGR4DQe2AV8A8xvIc9Sa/t24IwO\nLNsFlADbrNcffVj2s0Ah8GUrefx13N6U78J/xw6QBrwPfAXsAH7bQj5/nANvynbhv+OPAjZjzsPZ\nCSxqIZ+/fv7elO/Cvz//MGu/a1vY7s/ffV8KZPvlTfkuumYbFsrtl7flu/DPOVD7ZQraNiwMyAYy\ngAjMEzWiUZ5LgfXW8ljgkw4s2wWs8VF5jZ2PebJbahj8ddzelu/Cf8cO0I/6SX6xwG467mfvTdku\n/Hv80dZ7OOZx/ajRdn///O3Kd+Hf458HvNhCGf4+dl8JZPvlbfkuumYbFsrtl7flu/DfOQj19gt8\n2Ib5+nYLYzAbhhygClgFTG2UZwqwzFreDMQDSR1UNvjvSsiNQHEr2/113N6WD/69CvQg5j8CgHLg\na6B/ozz+OgfelA3+Pf7j1ns3zH+QRY22+/vnb1c++O/4UzEbnqdbKMPfx+4rgWy/vC0fumYbFsrt\nl7flg//OQSi3X+DjNszXgVUKkOuxnmel2eVJ7aCyDeA/MLvy1gMjfVCut/x13N7qyGPPwPz2ublR\nekecg5bK9vfxOzEbxkLMLv2djbb7+9jtyvfn8S8Bfg+4W9ge6N99bwWy/fK2/FBtw0Kl/WqtfH+e\ng1Buv8DHbZivAyvDy3yNI0JvP3eqZX+GOZY9GngYeM0H5baFP47bWx117LHA/wPmYn7zasyf56C1\nsv19/G7MrvxU4MeYXdeN+fPY7cr31/FPAg5hzk1o7RtlIH/3vRXI9svb/YRqGxYK7Zdd+f48B6Ha\nfoEf2jBfB1b5mAdfKw0zsmstT6qV1hFll1Hf5fgG5jyGRB+U7Q1/Hbe3OuLYI4B/Ai/Q/C++P8+B\nXdkd9bMvAf4FnN0ovaN+/i2V76/j/w/MbvLvgJXAhcDyRnkC/bvvrUC2X96WH6ptWFdvv7wpvyPO\nQai1X9AJ2rBwYC9mV2Y37Cd/novvJsF5U3YS9VHnGMy5DL6UgXcTP3153N6W7+9jd2D+Mi5pJY+/\nzoE3Zfvz+HtjjrkDdAc+AH7aKI8/f/7elO/vnz/AT2j+ipqO+N33hUC2X96W35XbsNbK7srtl7fl\n++scqP2qF7Rt2ATMKxqygTuttJusV61HrO3bgTM7sOzfYF7K+jnwMeYJ8pWVQAFwEnMs9no67ri9\nKd+fxw7mVRxua/+1l8ROoGPOgTdl+/P4T8fsqv4c+AJzrB467ufvTfn+/vmD2SjVXlHTkb/7vhTI\n9sub8rtqGxbK7Ze35fvrHKj9qtcV2jARERERERERERERERERERERERERERERERERERERERERERER\nERERERERkdD2/wEc6jD7SitQ4gAAAABJRU5ErkJggg==\n",
"text": [
"<matplotlib.figure.Figure at 0x7f93524e1ac8>"
]
}
],
"prompt_number": 223
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"x = np.linspace(-2000,2000,100)\n",
"pyplot.plot(x,400*arctan(x/400))"
],
"language": "python",
"metadata": {},
"outputs": [
{
"metadata": {},
"output_type": "pyout",
"prompt_number": 196,
"text": [
"[<matplotlib.lines.Line2D at 0x7f935286ada0>]"
]
},
{
"metadata": {},
"output_type": "display_data",
"png": 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yy8JG2OuXqK/Mwrg7sSwPcB2pGSydi43mF6uPDUSCbQFSQLzJGaQ4g3o9wd7I\nxf4v8VZjkBdH1vDiaeXF53Lw+SSsvxjgZGABNvvkSeKzpYbz4wHJ0q5rKrTix4PPFY2rKn7fJeMM\n4vuyGjYe8FSJ+qBe00rLA76k9OmeFV0YdyK2R1Px9MpWPsb5f7A+5X1YVp7u1f8cmza2DFvYd1VA\n44RgXc9Er2FTLT/H/gJqlPBckBdHXoHNCsnHpgS60hr7z78cey8Wx3I6Nu5Q2hTGsq6r3yZhLc6D\n2Pvy1krGlerfd8k4hxDM92VvbLLOcuKfmVkE85qKiIiIiIiIiIiIiIiIiIiIiIiIiIiIiIiIiIgk\n5/8DkCmwFoaRMUAAAAAASUVORK5CYII=\n",
"text": [
"<matplotlib.figure.Figure at 0x7f93529a03c8>"
]
}
],
"prompt_number": 196
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"dev = Device()\n",
"dev.x = 0.45\n",
"dev.v = 0\n",
"dev.m = 1\n",
"dev.b = 1\n",
"dev.k = 1\n",
"dev.s = 1\n",
"dev.g = 1\n",
"\n",
"cont = Controller()\n",
"cont.x0 = 1\n",
"cont.t0 = 0\n",
"cont.\u03a3\u0394x\u0394t = 0\n",
"cont.kp = 1\n",
"cont.kd = 0\n",
"cont.ki = 0\n",
"\n",
"for i in range(10):\n",
" print('{:.3f} {:.3f}'.format(*dev(cont(dev.x,i),1)))"
],
"language": "python",
"metadata": {},
"outputs": [
{
"output_type": "stream",
"stream": "stdout",
"text": [
"0.450 -0.450\n",
"0.000 -0.900\n",
"-0.900 0.000\n",
"-0.900 1.800\n",
"0.900 1.800\n",
"2.700 -1.800\n",
"0.900 -5.400\n",
"-4.500 -1.800\n",
"-6.300 9.000\n",
"2.700 12.600\n"
]
}
],
"prompt_number": 10
},
{
"cell_type": "code",
"collapsed": false,
"input": [],
"language": "python",
"metadata": {},
"outputs": []
}
],
"metadata": {}
}
]
}
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