ControllerAgent

ControllerAgent aplica uma lei de controle em tempo real. Ele le y do transporte, chama control_law(y) e escreve u de volta.

A lei de controle e um Callable[[np.ndarray], np.ndarray] — qualquer callable Python, incluindo PID, LQR ou um modelo de IA.

Exemplos

Com 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

law = lambda y: np.array([pid.compute(setpoint=setpoint, measurement=y[0])])

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

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

Com LQR

import numpy as np
from synapsys.algorithms import lqr

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

# LQR: u = -K @ x  (aqui y e o estado completo)
law = lambda y: -(K @ y.reshape(-1, 1)).flatten()

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

Com qualquer callable

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)

Referência da API

Consulte a referência completa em synapsys.agents — ControllerAgent.