agimus_sot.control.controllers Namespace Reference

Classes

class  Controller
 

Functions

def secondOrderOpenLoop (name, wn, z, period, initialValue)
 
def secondOrderClosedLoop (name, wn, z, period, initialValue)
 

Function Documentation

◆ secondOrderClosedLoop()

def agimus_sot.control.controllers.secondOrderClosedLoop (   name,
  wn,
  z,
  period,
  initialValue 
)
Create a 2nd order transfer function with loop closure so that
the overall relation between the input and the output is as below.
It considers a unit feedback.
                wn**2
H(s) = -------------------------
       s**2 + 2*z*wn * s + wn**2

- wm: corner frequency
- z : damping

◆ secondOrderOpenLoop()

def agimus_sot.control.controllers.secondOrderOpenLoop (   name,
  wn,
  z,
  period,
  initialValue 
)
Transfer function:
                wn**2
H(s) = -------------------------
       s**2 + 2*z*wn * s + wn**2

- wm: corner frequency
- z : damping