Struct VirtualPidConfig 

pub struct VirtualPidConfig {
    pub kc: f32,
    pub ti_s: Option<f32>,
    pub td_s: Option<f32>,
    pub output_min: f32,
    pub output_max: f32,
    pub output_bias: f32,
}

Configuration for a VirtualPid: a standard textbook position-form PID controller – proportional and integral on error, derivative on the measurement rather than the error (to avoid “derivative kick” on a setpoint change) – with output clamping and anti-reset-windup.

Fields

kc: f32

Controller gain (Kc).

ti_s: Option<f32>

Integral time in seconds (Ti). None disables integral action entirely (a P-only or PD controller) rather than requiring some sentinel “infinite” value.

td_s: Option<f32>

Derivative time in seconds (Td). None disables derivative action (a P-only or PI controller).

output_min: f32

output_max: f32

output_bias: f32

The output value corresponding to zero accumulated error – i.e. the operating point the controller starts from (matches op[0] in Model/ProcessModelOPC.py’s reference controller, which biases every computed output by this same constant).

Trait Implementations

impl Clone for VirtualPidConfig

fn clone(&self) -> VirtualPidConfig

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for VirtualPidConfig

impl Debug for VirtualPidConfig

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl PartialEq for VirtualPidConfig

fn eq(&self, other: &VirtualPidConfig) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl StructuralPartialEq for VirtualPidConfig