deluca.agents.PID

class deluca.agents.PID(*args, **kwargs)

PID: agent that plays a PID policy

Public Data Attributes:

Inherited from JaxObject

name
attrs

Public Methods:

__init__([K, RC, dt])	Description: initializes the PID agent
__call__(state)	Description: provide an action given a state

Inherited from Agent

__init_subclass__(*args, **kwargs)	For avoiding a decorator for each subclass
__call__(state)	Description: provide an action given a state
reset()
feed(reward)

Inherited from JaxObject

__new__(cls, *args, **kwargs)	For avoiding super().__init__()
__init_subclass__(*args, **kwargs)	For avoiding a decorator for each subclass
__str__()	Return str(self).
__setattr__(key, val)	Implement setattr(self, name, value).
save(path)
load(path)
throw(err, msg)

---

__call__(state: jax._src.numpy.lax_numpy.ndarray) → jax._src.numpy.lax_numpy.ndarray

Description: provide an action given a state

Parameters

state (jnp.ndarray) – the error PID must compensate for

Returns

action to take

Return type

jnp.ndarray

__init__(K: Sequence[int] = None, RC: numbers.Real = 0.5, dt: numbers.Real = 0.03, **kwargs) → None

Description: initializes the PID agent

Parameters

• K (Sequence[int]) – sequence of PID parameters

• RC (Real) – decay parameter

• dt (Real) – time increment

Returns

None