Floating Feedback Gain Scheduling

[alandwright]

Description and Purpose

Add gain scheduling of Kp_float with wind speed. The various options are demonstrated in a new example.

TODO:

• [x] Make example will different Kp_float configurations
• [x] Document API change

Type of change

What types of change is it? Select the appropriate type(s) that describe this PR

• [ ] Bugfix (non-breaking change which fixes an issue)
• [x] New feature (non-breaking change which adds functionality)
• [ ] Breaking change (non-backwards-compatible fix or feature)
• [ ] Code style update (formatting, renaming)
• [ ] Refactoring (no functional changes, no API changes)
• [ ] Documentation update
• [ ] Maintenance update
• [ ] Other (please describe)

TODO Items General:

• [x] Add example/test for new feature
• [x] Update registry
• [x] Run testing

TODO Items API Change:

• [x] Update docs with API change
• [x] Run update_rosco_discons.py in Test_Cases/
• [ ] Update DISCON schema

Github issues addressed, if one exists

Examples/Testing, if applicable

[dzalkind]

Hi Alan,

I updated this to be a bit more flexible and also not require the user to gain schedule Fl_Kp.

In the DISCON, the user specifies the number of gain scheduling points, Fl_Kp, and Fl_U.

In the tuning yaml or controller_params, the user can specify which wind speeds to gain schedule at, none with [] or all.

Let's demo this with and example and catch up next week.

Best, Dan

[dzalkind]

comp_outputs.pdf

The testing results are identical to v2.8.0 when the standard (single Kp_float) floating feedback is used.