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Contents
//
//
// Copyright 2016 gRPC authors.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
//
#include <grpc/support/port_platform.h>
#include "src/core/lib/transport/pid_controller.h"
#include "src/core/lib/gpr/useful.h"
namespace grpc_core {
PidController::PidController(const Args& args)
: last_control_value_(args.initial_control_value()), args_(args) {}
double PidController::Update(double error, double dt) {
if (dt <= 0) return last_control_value_;
// integrate error using the trapezoid rule
error_integral_ += dt * (last_error_ + error) * 0.5;
error_integral_ =
Clamp(error_integral_, -args_.integral_range(), args_.integral_range());
double diff_error = (error - last_error_) / dt;
// calculate derivative of control value vs time
double dc_dt = args_.gain_p() * error + args_.gain_i() * error_integral_ +
args_.gain_d() * diff_error;
// and perform trapezoidal integration
double new_control_value =
last_control_value_ + dt * (last_dc_dt_ + dc_dt) * 0.5;
new_control_value = Clamp(new_control_value, args_.min_control_value(),
args_.max_control_value());
last_error_ = error;
last_dc_dt_ = dc_dt;
last_control_value_ = new_control_value;
return new_control_value;
}
} // namespace grpc_core
Version data entries
26 entries across 26 versions & 1 rubygems