PIDStepControlConfig

class cubie.integrators.step_control.adaptive_PID_controller.PIDStepControlConfig(precision: type[float16] | type[float32] | type[float64] | dtype[float16] | dtype[float32] | dtype[float64], n: int = 1, timestep_memory_location: str = 'local', dt_min: float = 1e-06, dt_max: float | None = 1.0, atol: float | Buffer | _SupportsArray[dtype[Any]] | _NestedSequence[_SupportsArray[dtype[Any]]] | bool | int | complex | str | bytes | _NestedSequence[bool | int | float | complex | str | bytes] = array([1.e-06]), rtol: float | Buffer | _SupportsArray[dtype[Any]] | _NestedSequence[_SupportsArray[dtype[Any]]] | bool | int | complex | str | bytes | _NestedSequence[bool | int | float | complex | str | bytes] = array([1.e-06]), algorithm_order: int = 1, min_gain: float = 0.3, max_gain: float = 2.0, safety: float = 0.9, deadband_min: float = 1.0, deadband_max: float = 1.2, kp: float = 0.05555555555555555, ki: float = 0.1111111111111111, kd: float = 0.0)[source]

Bases: PIStepControlConfig

Configuration for a proportional–integral–derivative controller.

property kd: float: Return the derivative gain.