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fix pid_lagrange math #392

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fix pid_lagrange math #392

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3cedb9e
fix pid_lagrange math
AmineAndam04 Jul 13, 2026
13c55f5
remove blog
AmineAndam04 Jul 13, 2026
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2 changes: 1 addition & 1 deletion omnisafe/common/pid_lagrange.py
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Expand Up @@ -96,7 +96,7 @@ def pid_update(self, ep_cost_avg: float) -> None:

.. math::

\lambda_{t+1} = \lambda_t + (K_p e_p + K_i \int e_p dt + K_d \frac{d e_p}{d t}) \eta
\lambda_{t+1} = \max(0,K_p e_p + K_i \int e_p dt + K_d \frac{d e_p}{d t})

where :math:`e_p` is the error between the current episode cost and the cost limit,
:math:`K_p`, :math:`K_i`, :math:`K_d` are the PID parameters, and :math:`\eta` is the
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