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lines changed Original file line number Diff line number Diff line change @@ -112,21 +112,21 @@ <h2>PID regulator for controlling CPU load</h2>
112112 The architecture uses two threads: a < em > Monitor Thread</ em > that measures CPU
113113 utilisation and a < em > Controller Thread</ em > that applies PI control to adjust
114114 the sleep time of a tight loop so the measured load matches the
115- target. :contentReference[oaicite:1]{index=1}
115+ target.
116116 </ p >
117117
118118 < h3 > Monitor Thread</ h3 >
119119 < p >
120120 Samples CPU usage at a fixed interval via
121121 < code > psutil.cpu_percent(interval)</ code > , filters the measurements with a
122- first‑order filter and logs the results. :contentReference[oaicite:2]{index=2}
122+ first‑order filter and logs the results.
123123 </ p >
124124
125125 < h3 > Controller Thread</ h3 >
126126 < p >
127127 Compares the target load (< em > set‑point</ em > ) and actual load, then computes the
128128 control signal using proportional (< code > K< sub > p</ sub > </ code > ) and integral
129- (< code > K< sub > i</ sub > </ code > ) actions. The derivative term is not used. :contentReference[oaicite:3]{index=3}
129+ (< code > K< sub > i</ sub > </ code > ) actions. The derivative term is not used.
130130 </ p >
131131
132132 < pre > < code > # actuator snippet
@@ -167,7 +167,7 @@ <h3>PI tuning insights</h3>
167167 < p >
168168 Raising < code > K< sub > p</ sub > </ code > speeds up the response but risks overshoot; adding an
169169 integral term removes steady‑state error at the cost of sluggishness
170- and potential oscillations, so anti‑windup is essential. :contentReference[oaicite:4]{index=4}
170+ and potential oscillations, so anti‑windup is essential.
171171 </ p >
172172 </ section >
173173
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