AdaptivePIDController

class cubie.integrators.AdaptivePIDController(precision: type[float16] | type[float32] | type[float64] | dtype[float16] | dtype[float32] | dtype[float64], dt: float = None, n: int = 1, **kwargs)

Bases: BaseAdaptiveStepController

Adaptive PID step size controller.

build_controller(precision: type[float16] | type[float32] | type[float64] | dtype[float16] | dtype[float32] | dtype[float64], clamp: Callable, min_gain: float, max_gain: float, dt_min: float, dt_max: float, n: int, atol: ndarray, rtol: ndarray, algorithm_order: int, safety: float) → ControllerCache

Create the device function for the PID controller.

Parameters:

• precision – Precision callable used to coerce scalars on device.

• clamp – Callable that clamps proposed step sizes.

• min_gain – Minimum allowed gain when adapting the step size.

• max_gain – Maximum allowed gain when adapting the step size.

• dt_min – Minimum permissible step size.

• dt_max – Maximum permissible step size.

• n – Number of state variables controlled per step.

• atol – Absolute tolerance vector.

• rtol – Relative tolerance vector.

• algorithm_order – Order of the integration algorithm.

• safety – Safety factor used when scaling the step size.

Returns:

CUDA device function implementing the PID controller.

Return type:

Callable

property kd: float

Return the derivative gain.

property ki: float

Return the integral gain.

property kp: float

Return the proportional gain.

property local_memory_elements: int

Return the number of local memory slots required.

property settings_dict: dict[str, object]

Return the configuration as a dictionary.