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PlantAgent

PlantAgent simulates a discrete plant (StateSpace with dt > 0) in real time, publishing y and consuming u on every tick.

Requirements​

  • The plant must be discrete. Use c2d() to discretise a continuous plant.
  • The transport must have two channels: one for y (output) and one for u (input).

Complete example​

import numpy as np
from synapsys.api import ss, c2d
from synapsys.agents import PlantAgent, SyncEngine, SyncMode
from synapsys.transport import SharedMemoryTransport

# 1. Define and discretise the plant
plant_c = ss([[-1.0]], [[1.0]], [[1.0]], [[0.0]])   # G(s) = 1/(s+1)
plant_d = c2d(plant_c, dt=0.01)                      # ZOH, 100 Hz

# 2. Create the shared-memory bus
BUS = "my_simulation"
CHANNELS = {"y": 1, "u": 1}

owner = SharedMemoryTransport(BUS, CHANNELS, create=True)
owner.write("u", np.array([0.0]))
owner.write("y", np.array([0.0]))

# 3. Each agent gets its own handle (as if in separate processes)
t_plant = SharedMemoryTransport(BUS, CHANNELS)

sync = SyncEngine(SyncMode.WALL_CLOCK, dt=0.01)
agent = PlantAgent("plant", plant_d, t_plant, sync)

# 4. Start in background
agent.start(blocking=False)

# ... controller running in another thread/process ...

agent.stop()
t_plant.close()
owner.close()

Initial state​

x0 = np.array([2.0])    # non-zero initial state
agent = PlantAgent("plant", plant_d, transport, sync, x0=x0)

API Reference​

See the full reference at synapsys.agents — PlantAgent.