This example shows how to design a PID controller for the plant given by:
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- Mas Command This Wrenegade Stables Rancho Santa Fe
- Mas Command This Wrenegade Stables Near Me
- Mas Command This Wrenegade Stables -
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As a first pass, create a model of the plant and design a simple PI controller for it.
C_pi
is a pid
controller object that represents a PI controller. The fields of info
show that the tuning algorithm chooses an open-loop crossover frequency of about 0.52 rad/s.Examine the closed-loop step response (reference tracking) of the controlled system.
To improve the response time, you can set a higher target crossover frequency than the result that
pidtune
automatically selects, 0.52. Increase the crossover frequency to 1.0.The new controller achieves the higher crossover frequency, but at the cost of a reduced phase margin.
Mas Command This Wrenegade Stables Blissfield
Compare the closed-loop step response with the two controllers.
This reduction in performance results because the PI controller does not have enough degrees of freedom to achieve a good phase margin at a crossover frequency of 1.0 rad/s. Adding a derivative action improves the response.
Mas Command This Wrenegade Stables Rancho Santa Fe
Design a PIDF controller for
Gc
with the target crossover frequency of 1.0 rad/s.The fields of info show that the derivative action in the controller allows the tuning algorithm to design a more aggressive controller that achieves the target crossover frequency with a good phase margin.
Compare the closed-loop step response and disturbance rejection for the fast PI and PIDF controllers.
You can compare the input (load) disturbance rejection of the controlled system with the fast PI and PIDF controllers. To do so, plot the response of the closed-loop transfer function from the plant input to the plant output.
This plot shows that the PIDF controller also provides faster disturbance rejection.
See Also
pid
| pidtune
Related Topics
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Git ye un programa de control de versiones distribuíu que permite a los usuarios descargase la ultimísima versión d'una rama ensin tener qu'esperar por dalguién que pase a empaquetala. MediaWiki lliberaráse más rápido, y sedrá más fácil anovar una instalación, desfacer un anovamientu, o [$bugzilla unviar parches]. (Por supuesto, recuerda que siempre les versiones estables oficiales son menos arriesgaes.)It allows you to download the very latest version of the source code, with all the branches and tagged releases at your disposal.
You should download from Git if you are a developer and want to submit patches.
If you do not want to develop but only install MediaWiki and extensions, then download stable tarball releases instead.
Mira Git pa mayores detalles; en particular, pa collaborar. Más abaxo hai delles instrucciones rápides pa un par de xeres comúnes.
Prerrequisitos
Has tener Git instaláu antes de poder usalu. Hai munches maneres distintes de facese con Git, dependiendo del to sistema operativu. Pa la fonte y los binarios oficiales, mira en [$link git-scm.com]. Pa maneres alternatives d'instalar Git, usa'l to buscador favoritu p'alcontrar les instrucciones pal to sistema operativu.Follow Gerrit/Tutorial#Set up Git, or use your favorite search engine.
Recomiéndase que tengas Composer instaláu pa descargar ya instalar biblioteques de terceros, pero nun ye imprescindible.
Usar Git pa descargar MediaWiki
Descargar
Puedes descargar el noyu de MediaWiki usando Git, lo mesmo que toles estensiones instalaes anguaño nel clúster de sirvidores de la Fundación Wikimedia y munches más estensiones agospiaes en gerrit.
El primer pasu ye clonar el repositoriu del noyu de MediaWiki. Esto pué tardar un ratu.
Descargar pa desendolcu
The latest development version of MediaWiki is tracked in the 'master' branch.
Si tienes una cuenta de desendolcador (que ye fácil de solicitar), en llugar de clonar de mou anónimu con https tendríes de clonar col to '<nome d'usuariu>' ssh pa que puedas unviar cambios a revisión:
Nuna ventana de terminal, escribe'l siguiente comandu:
Esto clona tol repositoriu principal de MediaWiki, sincronizáu cola caña maestra, nun subdirectorio llamáu
mediawiki
.To install into different directory, change that in the command line (for more info refer to these docs).Once the repository is cloned, you can switch to different branches or tags.The development branch,
master
, is the cutting-edge, developer version of MediaWiki; you should not use master code for production under any circumstances as it is not considered stable.Download a stable branch
Esto fai un clon completu del repositoriu del nucleu de MediaWiki, que de forma predeterminada apunta a la caña 1.35, nun subdireutoriu llamáu $dir.
If you have a slow internet connection and want to reduce the number of revisions that are cloned, add
--depth=1
to the git clone
command.Alternatively, specific stable versions of MediaWiki are tracked using 'tags'. These are analogous to the tarball releases.Currently, these are 1.35.1 (stable), 1.31.12 (LTS) and 1.31.12 (legacy).
You can see all available tags with:
To use a specific tag, e.g. the latest stable release:
Update the Git submodules
The branches have a bunch of Git submodules in them, for commonly-used extensions and skins (the master branch does not have these). To update the submodules, run:
Trayer biblioteques esternes
MediaWiki utiliza Composer p'alministrar les biblioteques de PHP esternes, toles cuales terminen nel direutoriu
vendor/
del direutoriu de MediaWiki.Pa instalar estes biblioteques necesaries, puedes escoyer:
- Descarga ya instala'l PHAR composer, opcionalmente, camuda'l nome del ficheru composer.phar como s'indica para'l to sistema operativu y depués executa
composer update --no-dev
dende'l to direutoriu MediaWiki. Esta ye la forma de faelo que s'encamienta.
- Or, if you don't want to use Composer or if you want to use the exact same set of vendor libraries as used on the WMF production cluster, you can instead create a
vendor/
directory inside the core folder of your MediaWiki installation:
- With your developer account, use this command:
git clone ssh://<USERNAME>@gerrit.wikimedia.org:29418/mediawiki/vendor.git
- For anonymous checkout, use this command:
git clone https://gerrit.wikimedia.org/r/mediawiki/vendor.git
- Note that if any of your extensions have their own Composer requirements, then you cannot use this option.
- With your developer account, use this command:
Antes de MediaWiki 1.25, les biblioteques esternes guardábense nel repositoriu principal, y nun se precisaba nengún xestor de paquetes.
Caltener actualizao
If you're using a particular branch or the development version ('master' branch) of MediaWiki, picking up the latest changes is relatively easy. Change into your MediaWiki clone directory and issue this command:
All of the latest changes for the branch you are using will be applied.
The new version of core may require newer versions of extensions and skins, so you must go into each extension and skin directory and update it with a command like
git pull --recurse-submodules
.You also need to update
vendor/
with any newer versions of required libraries.This often means running the following Composer command, but see #Fetch external libraries above for more details:After updating/upgrading the code and required libraries you should run the MediaWiki
update.php
command-line script to update database tables as needed:If you use MediaWiki-Vagrant, it offers a single command,
vagrant git-update
, that performs all these steps.Cambiar a una versión distinta
Each of our versions are tracked as branches or tags. In order to switch to a different version (for example from the
master
branch to a different branch or tag), checkout the particular branch or tag you want from within your MediaWiki clone directory:o
Los cambeos van aplicase automáticamente y tarás preparáu dafechu pa trabayar.
Usar Git pa descargar estensiones de MediaWiki
- Llista d'estensiones en git
Descargar una estensión
- <EXT> tien de reemplazase pol nome de la estensión que quieras descargar, ensin espacios. Pa la Extension:TitleKey, sería TitleKey. (¡respetando mayúscules y minúscules!)
Descarga y clonáu d'una estensión dende Git:
With your developer account, use these commands to get the master branch:
For anonymous checkout of the stable branch instead, use these commands:
Pués ver el códigu fonte de la estensión na aplicación gitiles de Gerrit y na URL:
Descargar toles estensiones
Si prefieres tener toles estensiones de MediaWiki qu'hai en gerrit.wikimedia.org descargaes na to máquina, escribi lo siguiente:
With your developer account, to get the master branch:
For anonymous checkout of the stable branch instead, use this command:
After running the
git clone
command, continue with these commands:Dempués d'esto, p'anovar toles estensiones a les sos últimes versiones d'esa caña, namái escribi:
Para camudar a una caña distinta, como tres d'una nueva versión:
Mas Command This Wrenegade Stables Near Me
Remember that you should only use versions of extensions from the same release as that version of MediaWiki and each other.
Para siguir la caña principal:
Mas Command This Wrenegade Stables -
Please note that you should not use master code for production under any circumstances as it is not considered stable.
If you only need a read-only checkout (for instance to grep or analyse all MediaWiki code), you can use the shared MediaWiki checkout on Labs, without downloading anything on your machines.
Desaniciar una estensión
- Remove the '
require_once …
' or 'wfLoadExtension( … )
' fromLocalSettings.php
- Remove any line referencing the extension in
composer.local.json
(usually in the 'extra → merge-plugin → include' section)
- Remove the extension's directory in
install-dir/extensions/
Usar Git pa descargar pieles de MediaWiki
- Llista de pieles en git
MediaWiki 1.24 y posteriores nun incluyen pieles na descarga per Git.
Follow the exact same procedure as for extensions (described in the previous section), but using
skins
rather than extensions
in all URLs and paths.Detailed installation instructions are available on each skin's page here on MediaWiki.org, for example see Skin:Vector#Installation. Instructions for all other skins are analogous.
Ver tamién
- Intranet/Intranet Installation, parte d'una serie d'artículos bien trabayada qu'utiliza Git pal despliegue de MediaWiki
Appendix
The Revision as of 14:26, 21 March 2019 changed the standard of linking to gerrit.wikimedia.org:
from:
from:
- gerrit.wikimedia.org/r/p/mediawiki
to:
- gerrit.wikimedia.org/r/mediawiki
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