classdef FeedbackSystem < handle

properties

sse % steady-state error for the current iteration

Mp % overshoot for the current iteration

sTime % settling time for the current iteration

rise % rise time for the current iteration

kPID (1,3) = [0,0,0];

end

methods

function obj = FeedbackSystem(par)

obj.sse = 0;

obj.Mp = 0;

obj.sTime = 0;

obj.rise = 0;

obj.kPID(1) = 1;

obj.kPID(2) = 0;

obj.kPID(2) = 0;

end

function [fitness] = calculateFitness(obj, Kp, Ki, Kd)

%TF Example 1,

num = 1;

den = [1/216 19/216 7/12 3/2 1];

G = tf(num,den);

% s = tf('s');

%Speicherplatz

y = zeros(200);

t = zeros(200);

%TODO:

%Ab hier überprüfen

H = 1;

C = pid(Kp,Ki,Kd);

T = feedback(C*G,H);

opt = stepDataOptions('InputOffset',0,'StepAmplitude',1);

[y,t] = step(T, opt);

%1-y: 1 hier dasselbe wie StepAmplitude

%SettlingTime = tspan(find(y>sserror,1,'last'))

%S = stepinfo(y,t,'SettlingTimeThreshold',0.001);

S = stepinfo(y,t);

%Already in percentages to the y-final

Mp = S.(subsref(fieldnames(S),substruct('{}',{5})));

sse = abs(1-y(end));

sTime = S.(subsref(fieldnames(S), substruct('{}',{2})));

rise = S.(subsref(fieldnames(S), substruct('{}',{1})));

% Überprüfung wie was einfließt

compound = (1+Mp)*(rise+sTime); % (4) im Paper Seite 3

fitness = 1/(compound^10);

end

function [response, info] = calcResponse(obj, Kp, Ki, Kd)

response = zeros(200,200);

%TF Example 1

num = [1];

den = [1/216 19/216 7/12 3/2 1];

G = tf(num,den);

%Speicherplatz

y = zeros(200);

t = zeros(200);

%TODO:

%Ab hier überprüfen

H = 1;

C = pid(Kp,Ki,Kd);

T = feedback(C*G,H);

opt = stepDataOptions('InputOffset',0,'StepAmplitude',1);

t = [200];

[y,t] = step(T, opt);

response = [y,t];

%1-y: 1 hier dasselbe wie StepAmplitude

%SettlingTime = tspan(find(y>sserror,1,'last'))

%S = stepinfo(y,t,'SettlingTimeThreshold',0.001);

info = stepinfo(y,t);

%Already in percentages to the y-final

end

end

%function obj = set.kPID(obj, kPID)

% obj.kPID(1) = kPID(1);

% obj.kPID(2) = kPID(2);

% obj.kPID(3) = kPID(3);

% end