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ControllerAgent

ControllerAgent applies a control law in real time. It reads y from the transport, calls control_law(y), and writes u back.

The control law is a Callable[[np.ndarray], np.ndarray] — any Python callable, including PID, LQR, or an AI model.

Examples​

With PID​

import numpy as np
from synapsys.algorithms import PID
from synapsys.agents import ControllerAgent, SyncEngine, SyncMode
from synapsys.transport import SharedMemoryTransport

pid = PID(Kp=3.0, Ki=0.5, dt=0.025, u_min=-10.0, u_max=10.0)
setpoint = 5.0

# Lambda adapting PID signature to the agent contract
law = lambda y: np.array([pid.compute(setpoint=setpoint, measurement=y[0])])

transport = SharedMemoryTransport("my_simulation", {"y": 1, "u": 1})
sync = SyncEngine(SyncMode.WALL_CLOCK, dt=0.025)

ctrl = ControllerAgent("controller", law, transport, sync)
ctrl.start(blocking=False)

With LQR​

import numpy as np
from synapsys.algorithms import lqr

K, _ = lqr(A, B, Q, R)

# LQR: u = -K @ x  (here y is the full state)
law = lambda y: -(K @ y.reshape(-1, 1)).flatten()

ctrl = ControllerAgent("lqr_ctrl", law, transport, sync)

With any callable​

# Simple bang-bang control
def bang_bang(y: np.ndarray) -> np.ndarray:
    return np.array([10.0 if y[0] < setpoint else -10.0])

ctrl = ControllerAgent("bang_bang", bang_bang, transport, sync)

API Reference​

See the full reference at synapsys.agents — ControllerAgent.