closed_loop

This demonstrates a closed loop, single-threaded mass-spring-damper with a PID controller. I've also demonstrated some zero-mean Gaussian noise, and plotting is carried out by a separate script. Models can run at different rates, and the example includes two logging rate groups as well.

Running the example

source .venv/bin/activate
pip install -r requirements.txt
python world.py 10.0 5.0 && python plotter.py

Note that the mandatory arguments for world.py are:

• the simulation duration (in units of time)
• the desired position of the mass (PID controller setpoint)

The simulation is defined in world.py in __main__.

To run unit tests,

pytest test/

A note about typing

I decided against using mypy to check typing because it would be difficult to finish this task in five hours with typing.

Copyright

Copyright Juno Woods, Ph.D., Translunar LLC, 2024. All rights reserved.