BF: Basics of closed-loop control #1046

fhswf · Dec 3, 2024 · 1b48f32 · 1b48f32
1 parent 593002e
commit 1b48f32
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Showing 2 changed files with 6 additions and 4 deletions.
diff --git a/src/mlpro/bf/control/controllers/hunter.py b/src/mlpro/bf/control/controllers/hunter.py
@@ -6,10 +6,11 @@
 ## -- History :
 ## -- yyyy-mm-dd  Ver.      Auth.    Description
 ## -- 2024-10-10  0.1.0     DA       Initial implementation
+## -- 2024-12-03  0.1.1     DA       Bugfix
 ## -------------------------------------------------------------------------------------------------
 
 """
-Ver. 0.1.0 (2024-10-10)
+Ver. 0.1.1 (2024-12-03)
 
 This module provides a simple demo system that just cumulates a percentage part of the incoming
 action to the inner state.
@@ -33,4 +34,4 @@ class Hunter (Controller):
 
 ## -------------------------------------------------------------------------------------------------
     def _compute_output(self, p_ctrl_error : ControlError, p_ctrl_var : ControlVariable ):
-        p_ctrl_var.values = np.array(p_ctrl_error.values) * (-1)
+        p_ctrl_var.values = np.array(p_ctrl_error.values) 
diff --git a/src/mlpro/bf/control/operators/comparator.py b/src/mlpro/bf/control/operators/comparator.py
@@ -12,10 +12,11 @@
 ## -- 2024-11-10  0.5.0     DA       Refactoring
 ## -- 2024-11-26  0.6.0     DA       Method Comparator._run(): creation of ControlError only if
 ## --                                both SetPoint and ControlledVariable are detected
+## -- 2024-12-03  0.6.1     DA       Bugfix in method Comparator.get_control_error()
 ## -------------------------------------------------------------------------------------------------
 
 """
-Ver. 0.6.0 (2024-11-26)
+Ver. 0.6.1 (2024-12-03)
 
 This module provides an implementation of a comparator that determins the control error based on 
 setpoint and controlled variable (system state).
@@ -84,5 +85,5 @@ def get_control_error(self, p_setpoint: SetPoint, p_ctrlled_var: ControlledVaria
 
         return ControlError( p_id = self.get_so().get_next_inst_id(),
                              p_value_space = p_ctrlled_var.value_space, 
-                             p_values = np.subtract( np.array(p_ctrlled_var.values), np.array(p_setpoint.values) ), 
+                             p_values = np.subtract( np.array(p_setpoint.values), np.array(p_ctrlled_var.values) ), 
                              p_tstamp = self.get_so().get_tstamp() )