Mirrors_Framework/RBF-aPID-Controller
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Added test of gain adaptation.

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Andru Liu
2024-10-09 16:47:34 -07:00
parent 22a48279e5
commit 3732b90bbd
1 changed files with 11 additions and 0 deletions
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NP_Implementation/test/test_aPID_np.py
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@@ -55,5 +55,16 @@ class TestAdaptivePIDNP(unittest.TestCase):
self.assertLess(self.apid.derivative, prev_derivative) self.assertLess(self.apid.derivative, prev_derivative)
def test_adaptive_gain(self):
"""Test that adaptive gain is applied correctly."""
initial_control_signal = self.apid.update(self.target, self.measured_value, self.dt)
measured_value = self.measured_value + (initial_control_signal - self.measured_value) * self.dt
adjusted_control_signal = self.apid.update(self.target, measured_value, self.dt)
self.assertNotEqual(initial_control_signal, adjusted_control_signal)
self.assertLess(self.target-measured_value, self.target-self.measured_value)
if __name__ == '__main__': if __name__ == '__main__':
unittest.main() unittest.main()