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Convert pid parameters to :parallel #900

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merged 8 commits into from
Nov 17, 2023
Merged

Convert pid parameters to :parallel #900

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a3b77eb
Convert pid parameters to :parallel
Nov 11, 2023
27a0c18
Throw DomainError when conversion to other form is not possible
Nov 12, 2023
a43c256
Reintroduce convert_pidparams_from_standard
Nov 13, 2023
692b5f9
Re-add broadcasting
Nov 13, 2023
c48eda3
Update lib/ControlSystemsBase/src/pid_design.jl
mzaffalon Nov 13, 2023
9908eaf
Remove broadcasting on convert_pidparams* functions
Nov 13, 2023
5392ea1
merge
Nov 13, 2023
0ac6a75
Update lib/ControlSystemsBase/test/test_pid_design.jl
mzaffalon Nov 17, 2023
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Update lib/ControlSystemsBase/test/test_pid_design.jl 
Co-authored-by: Fredrik Bagge Carlson <baggepinnen@gmail.com>
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@mzaffalon @baggepinnen
mzaffalon and baggepinnen committed Nov 17, 2023
commit 0ac6a7518c40eb56a0cc7944075df6cba69db1e7
10 changes: 10 additions & 0 deletions lib/ControlSystemsBase/test/test_pid_design.jl
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Expand Up @@ -84,6 +84,16 @@ C, Kp, Ti = placePI(P, 2, 0.7; form=:standard)
@test [Kp, Ti] ≈ [9/5, 9/20]

# Test internal functions convert_pidparams*
# Standard
params = (2, 3, 0.5)
parallel_params = ControlSystemsBase.convert_pidparams_from_standard(params..., :parallel)
@test parallel_params == (2, 2/3, 1)
@test ControlSystemsBase.convert_pidparams_to_standard(parallel_params..., :parallel) == params
series_params = ControlSystemsBase.convert_pidparams_from_standard(params..., :series)
@test series_params == ((3-sqrt(3))/3, (3-sqrt(3))/2, (3+sqrt(3))/2)
@test ControlSystemsBase.convert_pidparams_to_standard(series_params..., :series) == params

# Parallel
params = (4, 3, 0.5)
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standard_params = ControlSystemsBase.convert_pidparams_from_parallel(params..., :standard)
@test standard_params == (4, 4/3, 0.5/4)
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