dm_pd_optimizer/pd_optimization_results.json at main · Roboparty/dm_pd_optimizer · GitHub

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{
  "optimal_parameters": {
    "P": 120.0,
    "D": 4.0,
    "error": 1.8047819157600777
  },
  "analysis": [
    {
      "P": 120.0,
      "D": 4.0,
      "Total_Error": 1.8047819157600777,
      "Settling_Time": Infinity,
      "Overshoot": 18.67681683572776,
      "Steady_State_Error": 0.8040086947720058
    },
    {
      "P": 40.0,
      "D": 2.0,
      "Total_Error": 2.2785163401073834,
      "Settling_Time": Infinity,
      "Overshoot": 14.926887876981448,
      "Steady_State_Error": 0.5646546321186072
    },
    {
      "P": 150.0,
      "D": 5.0,
      "Total_Error": 2.4062838919893634,
      "Settling_Time": Infinity,
      "Overshoot": 227.9844858758517,
      "Steady_State_Error": 1.2921729730057088
    },
    {
      "P": 80.0,
      "D": 3.0,
      "Total_Error": 2.5384515625821726,
      "Settling_Time": Infinity,
      "Overshoot": 230.82093390812136,
      "Steady_State_Error": 1.4314377758468568
    },
    {
      "P": 20.0,
      "D": 1.0,
      "Total_Error": 3.6706295860930926,
      "Settling_Time": Infinity,
      "Overshoot": 220.0007880053819,
      "Steady_State_Error": 0.9027674288102734
    }
  ],
  "config": {
    "file_pattern": "pd_p*.csv",
    "p_range": [
      0.1,
      200
    ],
    "d_range": [
      0.5,
      5
    ],
    "optimization_method": "L-BFGS-B",
    "max_iterations": 500,
    "tolerance": 1e-05,
    "weight_position": 1.0,
    "weight_velocity": 0.5,
    "weight_acceleration": 0.3
  }
}