Control Benchmarks vs PID

Framework-cost MPC compared with classical PID and bang-bang on four plants: reactor thermal, aerodynamic boundary layer, combustion (Rijke tube), tokamak (0-D).

The control derivative is benchmarked against classical PID and bang-bang on four plant models. The framework cost adds anomaly-suppression and cross-shadow-consensus terms a classical controller has no access to — the comparison shows when those terms matter.

Plants under test

  • Reactor thermal — 4-thermocouple linear plant. The shield-friendly case: cross-thermocouple consensus.
  • Aerodynamic boundary layer — 6-tap Stuart-Landau BL transition.
  • Combustion (Rijke tube) — 3-transducer van-der-Pol oscillator.
  • Tokamak (0-D) — ELM-trigger plasma with anomaly cost dominating during edge events.

Source: control/benchmarks/ · compare_vs_pid.py reproduces every result.