format

Author: Brad Carman

src/Blocks/continuous.jl

@@ -234,9 +234,9 @@ Text-book version of a PID-controller without actuator saturation and anti-windu
 
 See also [`LimPID`](@ref)
 """
-@component function PID(with_I = true, with_D = true; name, k = 1, Ti = 0.1, Td = 0.1, Nd = 10, int__x = 0,
+@component function PID(with_I = true, with_D = true; name, k = 1, Ti = 0.1, Td = 0.1,
+    Nd = 10, int__x = 0,
     der__x = 0)
-    
     pars = @parameters begin
         k = k
         Ti = Ti
@@ -250,24 +250,26 @@ See also [`LimPID`](@ref)
     @named ctr_output = RealOutput() # control signal
 
     with_I &&
-        (@symcheck Ti ≥ 0 || throw(ArgumentError("Ti out of bounds, got $(Ti) but expected Ti ≥ 0")))
+        (@symcheck Ti ≥ 0 ||
+                   throw(ArgumentError("Ti out of bounds, got $(Ti) but expected Ti ≥ 0")))
     with_D &&
-        (@symcheck Td ≥ 0 || throw(ArgumentError("Td out of bounds, got $(Td) but expected Td ≥ 0")))
+        (@symcheck Td ≥ 0 ||
+                   throw(ArgumentError("Td out of bounds, got $(Td) but expected Td ≥ 0")))
 
     @symcheck Nd > 0 ||
-        throw(ArgumentError("Nd out of bounds, got $(Nd) but expected Nd ≥ 0"))
+              throw(ArgumentError("Nd out of bounds, got $(Nd) but expected Nd ≥ 0"))
 
     @named gainPID = Gain(; k)
     @named addPID = Add3()
     if with_I
-        @named int = Integrator(;k = 1 / Ti, x = int__x)
+        @named int = Integrator(; k = 1 / Ti, x = int__x)
     else
-        @named Izero = Constant(;k = 0)
+        @named Izero = Constant(; k = 0)
     end
     if with_D
-        @named der = Derivative(;k = Td, T = 1 / Nd, x = der__x)
+        @named der = Derivative(; k = Td, T = 1 / Nd, x = der__x)
     else
-        @named Dzero = Constant(;k = 0)
+        @named Dzero = Constant(; k = 0)
     end
     sys = [err_input, ctr_output, gainPID, addPID]
     if with_I
@@ -303,9 +305,9 @@ end
 with_I(type::Union{AbstractString, Symbol}) = contains(lowercase(string(type)), "i")
 with_D(type::Union{AbstractString, Symbol}) = contains(lowercase(string(type)), "d")
 
-PID(type::Union{AbstractString, Symbol}; kwargs...) = PID(with_I(type), with_D(type); kwargs...)
-
-
+function PID(type::Union{AbstractString, Symbol}; kwargs...)
+    PID(with_I(type), with_D(type); kwargs...)
+end
 
 """
     LimPI(; name, k = 1.0, T, Ta, int__x = 0.0, u_max = 1.0, u_min = -u_max)

test/Blocks/continuous.jl

@@ -172,12 +172,11 @@ end
 end
 
 @testset "PID" begin
-    
-    @parameters Ti=0.5 Td=1/100
+    @parameters Ti=0.5 Td=1 / 100
     @named pid_controller = PID(; k = 3, Ti, Td)
 
     re_val = 2
-    @named ref = Constant(; k = re_val)    
+    @named ref = Constant(; k = re_val)
     @named plant = Plant()
     @named fb = Feedback()
     @named model = ODESystem([
@@ -290,7 +289,8 @@ end
 @testset "LimPID" begin
     re_val = 1
     @named ref = Constant(; k = re_val)
-    @named pid_controller = LimPID(; k = 3, Ti = 0.5, Td = 1 / 100, u_max = 1.5, u_min = -1.5,
+    @named pid_controller = LimPID(; k = 3, Ti = 0.5, Td = 1 / 100, u_max = 1.5,
+        u_min = -1.5,
         Ni = 0.1 / 0.5)
     @named plant = Plant()
     @named model = ODESystem([
@@ -331,7 +331,7 @@ end
         @test all(-1.5 .<= sol[pid_controller.ctr_output.u] .<= 1.5) # test limit
     end
     @testset "PD" begin
-        @named pid_controller = LimPID(; k = 10,  Ti = false, Td = 1, u_max = 1.5,
+        @named pid_controller = LimPID(; k = 10, Ti = false, Td = 1, u_max = 1.5,
             u_min = -1.5)
         @named model = ODESystem([
                 connect(ref.output, pid_controller.reference),

test/runtests.jl

@@ -6,7 +6,6 @@ using ModelingToolkitStandardLibrary
 @parameters x = 1
 @symcheck x > 0
 
-
 # Blocks
 @safetestset "Blocks: math" begin
     include("Blocks/math.jl")