1 00:00:00,660 --> 00:00:01,470 ‫Welcome back. 2 00:00:02,280 --> 00:00:09,750 ‫So how would you solve this problem with two controllers where the feedback legalization controller 3 00:00:10,230 --> 00:00:13,100 ‫gives you five are and theater? 4 00:00:14,190 --> 00:00:22,620 ‫Well, it gives it to the PC controller, but then the NPC does not have enough time to reach your firearm. 5 00:00:22,620 --> 00:00:23,580 ‫theTr are. 6 00:00:24,690 --> 00:00:31,830 ‫Meaning that the real drones angles are unable to reach these values. 7 00:00:32,920 --> 00:00:41,380 ‫The answer is very simple for every time you use the feedback legionaries Asian controller, you use 8 00:00:41,530 --> 00:00:44,110 ‫the NPC multiple times. 9 00:00:44,740 --> 00:00:54,390 ‫Essentially, what you have is an inner loop for the NPC and then the outer loop for the feedback leaners 10 00:00:54,400 --> 00:00:55,300 ‫Asian controller. 11 00:00:56,470 --> 00:01:00,940 ‫So it looks like this your states are coming out from here. 12 00:01:02,070 --> 00:01:04,910 ‫And this would be your inner loop. 13 00:01:06,120 --> 00:01:08,070 ‫And this would be your outlook. 14 00:01:09,180 --> 00:01:15,800 ‫So every time you do the outer loop, you do multiple inner loops. 15 00:01:16,840 --> 00:01:25,120 ‫It means that the inner loop runs at the higher rate or at the higher frequency than the outer loop. 16 00:01:25,600 --> 00:01:33,460 ‫It means that for each outer loop, you run the inner loop more times in. 17 00:01:33,500 --> 00:01:37,750 ‫Of course, the ratio is four to one. 18 00:01:38,740 --> 00:01:45,130 ‫It means that you have four inner loop runs per one outer loop run. 19 00:01:46,210 --> 00:01:56,500 ‫And in our case, this is enough time for the NPC controller to reach their 5R and set our targets before 20 00:01:56,500 --> 00:02:03,070 ‫starting to chase new targets and so on a graph, it would look something like this. 21 00:02:03,490 --> 00:02:09,760 ‫And by the way, I'm just going to do it for the fire angle now, but the same principle applies to 22 00:02:09,760 --> 00:02:11,170 ‫the city angle as well. 23 00:02:12,300 --> 00:02:16,650 ‫So let's say that this is your FI-, our one. 24 00:02:17,810 --> 00:02:21,530 ‫The time span is from zero to 0.4 seconds. 25 00:02:22,730 --> 00:02:31,250 ‫The inner loop completes one cycle in 0.1 seconds, which is our sample time interval. 26 00:02:32,420 --> 00:02:37,280 ‫So this inner loop, it happens in one two seconds. 27 00:02:38,320 --> 00:02:42,050 ‫So I'm just going to put here one times piece. 28 00:02:43,090 --> 00:02:49,750 ‫And since the ratio is four to one, that means that the outer loop happens. 29 00:02:50,810 --> 00:02:57,860 ‫In 0.4 seconds or four times T sub s seconds. 30 00:02:58,880 --> 00:03:01,130 ‫So I'm going to put here four times. 31 00:03:01,830 --> 00:03:07,550 ‫T.S. it takes 0.4 seconds to complete this outer loop. 32 00:03:07,940 --> 00:03:15,620 ‫And during the time this inner loop goes in circles four times, that's what it means. 33 00:03:16,630 --> 00:03:22,300 ‫Now, keep in mind that each fighter and fighter are. 34 00:03:23,390 --> 00:03:33,950 ‫Is given to the NPC for 0.4 seconds, which means that it has five data points. 35 00:03:34,970 --> 00:03:37,070 ‫You have one data point at K. 36 00:03:38,150 --> 00:03:45,620 ‫One at Cape Plus, one one at Cape lost, two, one at Cape Plus three. 37 00:03:45,800 --> 00:03:49,280 ‫And then one at Cape Plus for. 38 00:03:50,450 --> 00:03:53,840 ‫And so this key here, this is for now. 39 00:03:54,290 --> 00:04:02,330 ‫This is for PR. And then keep us one, keep us to keep us three and keep us for they are for the future. 40 00:04:03,420 --> 00:04:13,140 ‫So essentially, what really happens is that every 0.4 seconds, the feedback legalization controller 41 00:04:14,340 --> 00:04:21,090 ‫will give an array of five equal numbers to the embassy controller. 42 00:04:22,020 --> 00:04:29,070 ‫And that's why this line here is a straight line because these values here are equal. 43 00:04:30,220 --> 00:04:39,280 ‫So if you plot five are against time, then this here would be zero point three radiance. 44 00:04:40,320 --> 00:04:47,550 ‫And then if you had a graph for the thetr angle, then you would have a similar thing a straight line 45 00:04:47,970 --> 00:04:48,810 ‫for. 46 00:04:50,000 --> 00:04:55,340 ‫The angle seats are so your seats are would be at 0.2 radiance. 47 00:04:55,550 --> 00:05:04,550 ‫It would be a straight line as well, with five data points and then 0.4 seconds later, the feedback 48 00:05:04,550 --> 00:05:10,370 ‫legalization controller will give the NPC another two arrays. 49 00:05:10,610 --> 00:05:17,900 ‫Fire and thetr are then have five numbers each that are equal in each array. 50 00:05:18,770 --> 00:05:21,620 ‫And so the NPC will start working. 51 00:05:21,860 --> 00:05:32,870 ‫And let's say that the first inner loop that happens here in one time stands seconds right in one interval. 52 00:05:33,470 --> 00:05:39,470 ‫This first inner loop will get the drone here in terms of the fire angle. 53 00:05:40,720 --> 00:05:46,690 ‫The second inner loop will get the drone here in terms of its fly angle. 54 00:05:47,900 --> 00:05:55,760 ‫The third in the loop will take it here, and then the fourth in a loop will take it here, and then 55 00:05:56,030 --> 00:06:00,500 ‫a new outer loop happens every 0.4 seconds. 56 00:06:01,160 --> 00:06:04,310 ‫And again, you have new reference values here. 57 00:06:05,240 --> 00:06:08,810 ‫So this would be your seat are two. 58 00:06:09,560 --> 00:06:13,370 ‫Again, this would be your K for your present. 59 00:06:13,970 --> 00:06:16,790 ‫Then this data point would be for your future. 60 00:06:17,690 --> 00:06:20,690 ‫This as well, this as well. 61 00:06:20,930 --> 00:06:23,450 ‫And also this one. 62 00:06:24,530 --> 00:06:29,510 ‫So this data goes to the embassy and the embassy will start working. 63 00:06:29,870 --> 00:06:32,930 ‫And so this would be the first in a loop. 64 00:06:33,500 --> 00:06:42,200 ‫Then the second inner loop, then the third inner loop and the fourth inner loop. 65 00:06:43,130 --> 00:06:50,330 ‫And then again, just like at the very beginning at time, equals zero seconds and then like at time 66 00:06:50,330 --> 00:06:52,430 ‫equals zero point four seconds. 67 00:06:53,480 --> 00:07:02,330 ‫Again, you will have an outer loop, so the feedback legalization controller will do its job and give 68 00:07:02,330 --> 00:07:10,010 ‫this data to the embassy controller, which will be your FY Sub R three. 69 00:07:10,220 --> 00:07:13,400 ‫And of course, the same thing for SETA. 70 00:07:14,510 --> 00:07:24,770 ‫And again, your embassy controller will work its magic to get the real drone to this position in terms 71 00:07:24,770 --> 00:07:26,710 ‫of its fi angle. 72 00:07:27,710 --> 00:07:35,000 ‫And so when your inner loop runs at the higher frequency than your outer loop, which means that your 73 00:07:35,000 --> 00:07:44,150 ‫attitude controller your NPC runs at the higher rate than your position or feedback minimization controller. 74 00:07:45,200 --> 00:07:48,650 ‫Then we say that the ads the controller has. 75 00:07:49,870 --> 00:07:50,680 ‫Higher. 76 00:07:51,790 --> 00:07:56,470 ‫Dynamics, or you can also see stronger dynamics. 77 00:07:57,430 --> 00:08:03,100 ‫So the inner loop has stronger dynamics because it runs more often. 78 00:08:04,210 --> 00:08:06,670 ‫It runs at the higher frequency. 79 00:08:07,670 --> 00:08:10,100 ‫Compared to the outer loop. 80 00:08:11,400 --> 00:08:16,500 ‫So you can also say that this outer loop has weaker dynamics. 81 00:08:16,770 --> 00:08:17,280 ‫All right. 82 00:08:18,390 --> 00:08:25,290 ‫And so in terms of programming, you can imagine that you have two loops, one inside another like this. 83 00:08:26,470 --> 00:08:30,670 ‫You have a for loop here that ends here. 84 00:08:31,790 --> 00:08:40,850 ‫And then inside it, you will have another for loop that will end here and then in between you have 85 00:08:40,850 --> 00:08:41,810 ‫some kind of code. 86 00:08:42,500 --> 00:08:45,440 ‫And you can also have some kind of code here as well, of course. 87 00:08:46,580 --> 00:08:49,250 ‫And here it depends on how you program it. 88 00:08:50,540 --> 00:08:59,720 ‫So essentially, you can read it like this for each outer loop that you have here, you have four inner 89 00:08:59,720 --> 00:09:00,260 ‫loops. 90 00:09:00,830 --> 00:09:07,460 ‫So every time you run this outer loop, you run this inner loop four times. 91 00:09:08,390 --> 00:09:16,130 ‫And also remember that the embassy had something called the horizon period and the horizon period in 92 00:09:16,130 --> 00:09:21,470 ‫embassy was how much into the future you predicted your states. 93 00:09:22,580 --> 00:09:30,410 ‫Later, when we start with the embassy, you will see that the horizon period for the embassy will also 94 00:09:30,410 --> 00:09:33,770 ‫be for samples. 95 00:09:34,370 --> 00:09:42,380 ‫So for the samples at time now, plus zero point one seconds. 96 00:09:43,400 --> 00:09:46,550 ‫Time now, plus zero point two seconds. 97 00:09:47,510 --> 00:09:49,870 ‫Time now, plus 0.3 seconds. 98 00:09:50,950 --> 00:09:56,380 ‫And time now, plus zero point four seconds. 99 00:09:57,540 --> 00:09:59,880 ‫And this is your time now here. 100 00:10:01,170 --> 00:10:08,520 ‫So from T and up until 10 plus zero point four seconds, that would be your entire outer loop. 101 00:10:08,970 --> 00:10:13,770 ‫And so your horizon period would then be for so. 102 00:10:14,970 --> 00:10:24,830 ‫Using the US vs mathematical model, it will try to predict the state values for Kate Plus one Kate 103 00:10:24,840 --> 00:10:30,450 ‫Plus two, Kate Plus three and Kate plus four. 104 00:10:31,510 --> 00:10:34,750 ‫And then your present state values would be at. 105 00:10:35,890 --> 00:10:41,740 ‫But of course, you don't have to predict that because you already know that because it's a time now. 106 00:10:42,760 --> 00:10:50,080 ‫And so that's why you see that your horizon period has four values year horizon period is for. 107 00:10:51,080 --> 00:11:00,500 ‫And then after one inner loop, you are here, since the embassy controller only works during this period 108 00:11:00,500 --> 00:11:10,250 ‫of 0.4 seconds until it's given a new target, because of that, the horizon period does not slide. 109 00:11:10,970 --> 00:11:20,390 ‫So after the first inner loop, the horizon period becomes three K plus one, K plus two and K plus 110 00:11:20,390 --> 00:11:21,020 ‫three. 111 00:11:22,270 --> 00:11:27,100 ‫So the embassy predicts the state values three times steps ahead. 112 00:11:28,460 --> 00:11:35,790 ‫Then the third inner loop happens and you are here, then Horizon period becomes too. 113 00:11:35,810 --> 00:11:41,000 ‫So the embassy will predict the state values two steps into the future. 114 00:11:42,330 --> 00:11:43,380 ‫Kate Plus one. 115 00:11:43,920 --> 00:11:45,600 ‫And then Kate Plus two. 116 00:11:46,730 --> 00:11:52,250 ‫Then the fourth inner loop happens in your Horizon period becomes one. 117 00:11:53,310 --> 00:12:01,170 ‫So you only predict one sample time into the future and then in the next cycle, the outer loop happens 118 00:12:01,170 --> 00:12:03,780 ‫and so you get yourself a new target. 119 00:12:04,830 --> 00:12:07,950 ‫So the horizon period equals four here. 120 00:12:09,010 --> 00:12:12,070 ‫It equals three here to here. 121 00:12:13,170 --> 00:12:13,980 ‫One here. 122 00:12:14,670 --> 00:12:20,610 ‫And when the new outer loop starts, you get yourself a new target and then the same thing will start 123 00:12:20,640 --> 00:12:21,570 ‫all over again. 124 00:12:22,380 --> 00:12:27,150 ‫And now in the next video, let's talk a little bit about this are.