Update docs, add page Autotuning

Author: ufechner7

docs/make.jl

@@ -22,6 +22,7 @@ makedocs(;
         "Winchcontroller" => "winchcontroller.md",
         "Winchcontroller Settings" => "settings.md",
         "Performance Indicators" => "performance_indicators.md",
+        "Autotuning" => "autotuning.md",
         "Tests" => "tests.md",
     ],
 )

docs/src/autotuning.md

@@ -0,0 +1,25 @@
+```@meta
+CurrentModule = WinchControllers
+```
+
+# Autotuning
+
+## Introduction
+The winch controller has 34 parameters (see [Winchcontroller Settings](@ref)). To determine and optimize all of them manually is time consuming and error prone, in particular if the physical system is changing. Therefore some form of automated tuning is desirable.
+
+## Methodology
+When the [Performance Indicators](@ref) are defined, an optimizer can be used to determine the controller parameters. The controller is using three PID controllers and a mixer. The following parameters are tuned automatically:
+```julia
+    wcs.i_speed  # the speed controller gain
+    wcs.p_speed  # the speed controller proportional gain
+    wcs.t_blend  # the blending time for switching between controllers
+    wcs.pf_low   # the lower force controller gain
+    wcs.if_low   # the lower force controller proportional gain
+    wcs.pf_high  # the upper force controller gain
+    wcs.if_high  # the upper force controller integral gain
+    wcs.df_high  # the differential gain of the upper force controller
+```
+The global, blackbox optimizer package NOMAD is used for the optimization process, together with a test case that mimics extreme wind conditions.
+
+## Example
+