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Added abstract types Actuators and Controllers which must be used to defined mutable structures for different actuators and controllers that should be callable, so that they get caled in run_closed_lim_sim. This has not been tested yet. Tests and further debuggin would happen in next commits.
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Individual tests now should be calle using: ``` julia --project test/test.jl help ``` test/runtests.jl now can be called from Pkg.test only as test specific dependencies have been moved to test/Project.toml.
Now tests include noise injection at all the points and also compares the residual of MPC with PVLC.
This release has generic closed loop simulation platform to test out control algorithms with plant models and actuator models. All linear plant models with an additional possibility of applying some input conditioning to it that can be used to make it non-linear. All actuation functions can be wrapped into an Actuator object which is what this platform uses. Similarly, all control algorithms can be wrapped as well as long as they only use the described keyword arguments. For convinience, childrens of Actuators and Controllers are provided. A DelayedActuator type is provided that can be used to add a latency anywhere in the actuator. It is recommended to use this instance to insert latency for compatibility with provided controllers. A LinearController is provided that can emulate any linear controller. See test example to see use for PI controller. Novel PVLC and MPC algorithms have been provided that help fight against delayed and non-linear actuator restrictions. See test example for a quick glance.
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Releasing v2.2.1 with controllers and testbed
This release has generic closed loop simulation platform to test out control algorithms with plant models and actuator models.
All linear plant models with an additional possibility of applying some input conditioning to it that can be used to make it non-linear.
All actuation functions can be wrapped into an Actuator object which is what this platform uses.
Similarly, all control algorithms can be wrapped as well as long as they only use the described keyword arguments.
For convinience, childrens of Actuators and Controllers are provided.
A DelayedActuator type is provided that can be used to add a latency anywhere in the actuator. It is recommended to use this instance to insert latency for compatibility with provided controllers.
A LinearController is provided that can emulate any linear controller. See test example to see use for PI controller.
Novel PVLC and MPC algorithms have been provided that help fight against delayed and non-linear actuator restrictions. See test example for a quick glance.