BF: Basics of closed-loop control #1046

fhswf · Dec 6, 2024 · 6ff04d2 · 6ff04d2
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diff --git a/src/mlpro/bf/control/controllers/pid_controller.py b/src/mlpro/bf/control/controllers/pid_controller.py
@@ -149,7 +149,7 @@ def _compute_output(self, p_ctrl_error: ControlError, p_ctrl_var: ActionElement)
         """
 
         #get control error
-        control_error_siso = p_ctrl_error._get_values()[0]
+        control_error_siso = p_ctrl_error.values[0]
 
         #time delta
         dt = 0

diff --git a/test/howtos/oa/control/PT/howto_oa_control_PT_001_pid_control_PT1.py b/test/howtos/oa/control/PT/howto_oa_control_PT_001_pid_control_PT1.py
@@ -116,6 +116,7 @@ def _compute_reward(self, p_state_old: ControlledVariable = None, p_state_new: C
 T = 5
 T_l = 0.1 
 cycle_limit = int(3*T/T_l)*10
+cycle_limit = 500
 if __name__ == '__main__':
     # 2.1 Parameters for demo mode
     cycle_limit = cycle_limit