Merge pull request #193 from upb-lea/nightly

Version 1.1.0
upb-lea · Jun 15, 2022 · f08d629 · f08d629
2 parents e836cd4 + ee7f35d
commit f08d629
Show file tree

Hide file tree

Showing 167 changed files with 6,117 additions and 6,738 deletions.
diff --git a/.gitignore b/.gitignore
@@ -28,3 +28,5 @@ examples/logs/
 .coverage
 
 /my_examples/
+.vscode/settings.json
+.vscode/launch.json
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -4,7 +4,25 @@ All notable changes to this project will be documented in this file.
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
 
-## [Unreleased]
+##[Unreleased]
+## Added
+
+## Changed
+
+## Fixed
+
+## [1.1.0] - 2022-04-25
+## Added
+- Physical System Wrappers as a new feature to process actions and states directly in the environment. A decent introduction can be found in the [GEM cookbook](https://github.com/upb-lea/gym-electric-motor/blob/nightly/examples/environment_features/GEM_cookbook.ipynb) (Paragraph 2.8)
+- The externally excited synchronous motor (EESM) has been added to the GEM-toolbox. 
+- The environments of the EESM can be instantiated with the following keys: "{Cont|Finite}-{CC|TC|SC}-EESM-v0",
+
+## Changed
+- The MotorDashboard has received a "initialize()" method to initialize the plots below a specific cell.
+- The MotorDashboard is now compatible with the "%matplotlib widget" backend. Therefore, GEM is now compatible with the integrated jupiter notebook execution of Visual Studio Code
+
+## Fixed
+- If multiple converters were used and the time constant tau was changed from its default values, it was possible that the values of tau were different in each converter
 
 
 ## [1.0.1] - 2021-12-20

diff --git a/docs/conf.py b/docs/conf.py
@@ -114,6 +114,9 @@
 
 
 # -- Options for LaTeX output ------------------------------------------------
+latex_packages = r'''
+\usepackage{amsmath}
+'''
 
 latex_elements = {
     # The paper size ('letterpaper' or 'a4paper').
@@ -131,6 +134,7 @@
     # Latex figure (float) alignment
     #
     # 'figure_align': 'htbp',
+    'packages': latex_packages
 }
 
 # Grouping the document tree into LaTeX files. List of tuples

diff --git a/docs/index.rst b/docs/index.rst
@@ -43,6 +43,7 @@ documentation specifies the basic interfaces inside a physical system.
     parts/reference_generators/reference_generator
     parts/reward_functions/reward_function
     parts/physical_systems/physical_system
+    parts/physical_system_wrappers/physical_system_wrapper
     parts/visualizations/visualization
     parts/constraint_monitor
     parts/core

diff --git a/docs/parts/callbacks.rst b/docs/parts/callbacks.rst
@@ -1,5 +1,5 @@
 Callbacks
-#####
+##########
 
 .. automodule:: gym_electric_motor.callbacks
     :members:
diff --git a/docs/parts/constraints/constraint.rst b/docs/parts/constraints/constraint.rst
@@ -2,7 +2,7 @@ Constraint Base Class
 #####################
 
 How To: Define Your Own Constraints
-________________________________
+___________________________________
 
 
 Constraint API Documentation

diff --git a/docs/parts/environments/dfim/abccont_cc_dfim.rst b/docs/parts/environments/dfim/abccont_cc_dfim.rst
@@ -1,4 +1,4 @@
 Abc-Continuous Current Control Doubly Fed Induction Motor Environment
 **********************************************************************
-.. autoclass:: gym_electric_motor.envs.AbcContCurrentControlDoublyFedInductionMotorEnv
+.. autoclass:: gym_electric_motor.envs.ContCurrentControlDoublyFedInductionMotorEnv
    :members:
diff --git a/docs/parts/environments/dfim/abccont_sc_dfim.rst b/docs/parts/environments/dfim/abccont_sc_dfim.rst
@@ -1,4 +1,4 @@
 Abc-Continuous Speed Control Doubly Fed Induction Motor Environment
 **********************************************************************
-.. autoclass:: gym_electric_motor.envs.AbcContSpeedControlDoublyFedInductionMotorEnv
+.. autoclass:: gym_electric_motor.envs.ContSpeedControlDoublyFedInductionMotorEnv
    :members:
diff --git a/docs/parts/environments/dfim/abccont_tc_dfim.rst b/docs/parts/environments/dfim/abccont_tc_dfim.rst
@@ -1,4 +1,4 @@
 Abc-Continuous Torque Control Doubly Fed Induction Motor Environment
 **********************************************************************
-.. autoclass:: gym_electric_motor.envs.AbcContTorqueControlDoublyFedInductionMotorEnv
+.. autoclass:: gym_electric_motor.envs.ContTorqueControlDoublyFedInductionMotorEnv
    :members:
diff --git a/docs/parts/environments/eesm/cont_cc_eesm.rst b/docs/parts/environments/eesm/cont_cc_eesm.rst
@@ -0,0 +1,4 @@
+Continuous Control Set Current Control Externally Excited Synchronous Motor Environment
+***************************************************************************************
+.. autoclass:: gym_electric_motor.envs.ContCurrentControlExternallyExcitedSynchronousMotorEnv
+   :members:
diff --git a/docs/parts/environments/eesm/cont_sc_eesm.rst b/docs/parts/environments/eesm/cont_sc_eesm.rst
@@ -0,0 +1,4 @@
+Continuous Control Set Speed Control Externally Excited Synchronous Motor Environment
+**************************************************************************************
+.. autoclass:: gym_electric_motor.envs.ContSpeedControlExternallyExcitedSynchronousMotorEnv
+   :members:
diff --git a/docs/parts/environments/eesm/cont_tc_eesm.rst b/docs/parts/environments/eesm/cont_tc_eesm.rst
@@ -0,0 +1,4 @@
+Continuous Control Set Torque Control Externally Excited Synchronous Motor Environment
+***************************************************************************************
+.. autoclass:: gym_electric_motor.envs.ContTorqueControlExternallyExcitedSynchronousMotorEnv
+   :members:
diff --git a/docs/parts/environments/eesm/eesm_envs.rst b/docs/parts/environments/eesm/eesm_envs.rst
@@ -0,0 +1,12 @@
+Externally Excited Synchronous Motor Environments
+************************************************
+
+
+.. toctree::
+   :maxdepth: 2
+   :caption: Environments:
+   :glob:
+
+   *
+
+
diff --git a/docs/parts/environments/eesm/finite_cc_eesm.rst b/docs/parts/environments/eesm/finite_cc_eesm.rst
@@ -0,0 +1,4 @@
+Finite Control Set Current Control Externally Excited Synchronous Motor Environment
+**********************************************************************************
+.. autoclass:: gym_electric_motor.envs.FiniteCurrentControlExternallyExcitedSynchronousMotorEnv
+   :members:
diff --git a/docs/parts/environments/eesm/finite_sc_eesm.rst b/docs/parts/environments/eesm/finite_sc_eesm.rst
@@ -0,0 +1,4 @@
+Finite Control Set Speed Control Externally Excited Synchronous Motor Environment
+************************************************************************************
+.. autoclass:: gym_electric_motor.envs.FiniteSpeedControlExternallyExcitedSynchronousMotorEnv
+   :members:
diff --git a/docs/parts/environments/eesm/finite_tc_eesm.rst b/docs/parts/environments/eesm/finite_tc_eesm.rst
@@ -0,0 +1,4 @@
+Finite Control Set Torque Control Externally Excited Synchronous Motor Environment
+*********************************************************************************
+.. autoclass:: gym_electric_motor.envs.FiniteTorqueControlExternallyExcitedSynchronousMotorEnv
+   :members:
diff --git a/docs/parts/environments/environment.rst b/docs/parts/environments/environment.rst
@@ -6,9 +6,9 @@ In general, all environment-ids are structured as follows:
 
 ``ControlType-ControlTask-MotorType-v0``
 
-- The ``ControlType`` is in ``{Finite / Cont}`` for all DC Motors and in ``{Finite / AbcCont / DqCont}`` for all AC Motors
+- The ``ControlType`` is in ``{Finite / Cont}`` for finite control set and continuous control set action spaces
 - The ``ControlTask`` is in ``{TC / SC / CC}`` (Torque / Speed / Current Control)
-- The ``MotorType`` is in ``{PermExDc / ExtExDc / SeriesDc / ShuntDc / PMSM / SynRM / DFIM / SCIM }``
+- The ``MotorType`` is in ``{PermExDc / ExtExDc / SeriesDc / ShuntDc / PMSM / SynRM / / EESM / DFIM / SCIM }``
 
 
 =================================================================== ==============================
@@ -53,50 +53,49 @@ Continuous Current Control Shunt DC Motor Environment                ``'Cont-CC-
 **Permanent Magnet Synchronous Motor (PMSM) Environments**
 
 Finite Torque Control PMSM Environment                               ``'Finite-TC-PMSM-v0'``
-Abc-Continuous Torque Control PMSM Environment                       ``'AbcCont-TC-PMSM-v0'``
-Dq-Continuous Torque Control PMSM Environment                        ``'DqCont-TC-PMSM-v0'``
+Torque Control PMSM Environment                                      ``'Cont-TC-PMSM-v0'``
 Finite Speed Control PMSM Environment                                ``'Finite-SC-PMSM-v0'``
-Abc-Continuous Speed Control PMSM Environment                        ``'Abc-Cont-SC-PMSM-v0'``
-Dq-Continuous Speed Control PMSM Environment                         ``'Dq-Cont-SC-PMSM-v0'``
+Speed Control PMSM Environment                                       ``'Cont-SC-PMSM-v0'``
 Finite Current Control PMSM Environment                              ``'Finite-CC-PMSM-v0'``
-Abc-Continuous Current Control PMSM Environment                      ``'AbcCont-CC-PMSM-v0'``
-Dq-Continuous Current Control PMSM Environment                       ``'DqCont-CC-PMSM-v0'``
+Current Control PMSM Environment                                     ``'Cont-CC-PMSM-v0'``
+
+
+**Externally Excited Synchronous Motor (EESM) Environments**
+
+Finite Torque Control EESM Environment                               ``'Finite-TC-EESM-v0'``
+Torque Control EESM Environment                                      ``'Cont-TC-EESM-v0'``
+Finite Speed Control EESM Environment                                ``'Finite-SC-EESM-v0'``
+Speed Control EESM Environment                                       ``'Cont-SC-EESM-v0'``
+Finite Current Control EESM Environment                              ``'Finite-CC-EESM-v0'``
+Current Control EESM Environment                                     ``'Cont-CC-EESM-v0'``
 
 **Synchronous Reluctance Motor (SynRM) Environments**
 
 Finite Torque Control SynRM Environment                              ``'Finite-TC-SynRM-v0'``
-Abc-Continuous Torque Control SynRM Environment                      ``'AbcCont-TC-SynRM-v0'``
-Dq-Continuous Torque Control SynRM Environment                       ``'DqCont-TC-SynRM-v0'``
+Torque Control SynRM Environment                                     ``'Cont-TC-SynRM-v0'``
 Finite Speed Control SynRM Environment                               ``'Finite-SC-SynRM-v0'``
-Abc-Continuous Speed Control SynRM Environment                       ``'Abc-Cont-SC-SynRM-v0'``
-Dq-Continuous Speed Control SynRM Environment                        ``'Dq-Cont-SC-SynRM-v0'``
+Speed Control SynRM Environment                                      ``'Cont-SC-SynRM-v0'``
 Finite Current Control SynRM Environment                             ``'Finite-CC-SynRM-v0'``
-Abc-Continuous Current Control SynRM Environment                     ``'AbcCont-CC-SynRM-v0'``
-Dq-Continuous Current Control SynRM Environment                      ``'DqCont-CC-SynRM-v0'``
+Current Control SynRM Environment                                    ``'Cont-CC-SynRM-v0'``
 
 **Squirrel Cage Induction Motor (SCIM) Environments**
 
 Finite Torque Control SCIM Environment                               ``'Finite-TC-SCIM-v0'``
-Abc-Continuous Torque Control SCIM Environment                       ``'AbcCont-TC-SCIM-v0'``
-Dq-Continuous Torque Control SCIM Environment                        ``'DqCont-TC-SCIM-v0'``
+Torque Control SCIM Environment                                      ``'Cont-TC-SCIM-v0'``
 Finite Speed Control SCIM Environment                                ``'Finite-SC-SCIM-v0'``
-Abc-Continuous Speed Control SCIM Environment                        ``'Abc-Cont-SC-SCIM-v0'``
-Dq-Continuous Speed Control SCIM Environment                         ``'Dq-Cont-SC-SCIM-v0'``
+Speed Control SCIM Environment                                       ``'Cont-SC-SCIM-v0'``
 Finite Current Control SCIM Environment                              ``'Finite-CC-SCIM-v0'``
-Abc-Continuous Current Control SCIM Environment                      ``'AbcCont-CC-SCIM-v0'``
-Dq-Continuous Current Control SCIM Environment                       ``'DqCont-CC-SCIM-v0'``
+Current Control SCIM Environment                                     ``'Cont-CC-SCIM-v0'``
 
 **Doubly Fed Induction Motor (DFIM) Environments**
 
 Finite Torque Control DFIM Environment                               ``'Finite-TC-DFIM-v0'``
-Abc-Continuous Torque Control DFIM Environment                       ``'AbcCont-TC-DFIM-v0'``
-Dq-Continuous Torque Control DFIM Environment                        ``'DqCont-TC-DFIM-v0'``
+Torque Control DFIM Environment                                      ``'Cont-TC-DFIM-v0'``
 Finite Speed Control DFIM Environment                                ``'Finite-SC-DFIM-v0'``
-Abc-Continuous Speed Control DFIM Environment                        ``'Abc-Cont-SC-DFIM-v0'``
-Dq-Continuous Speed Control DFIM Environment                         ``'Dq-Cont-SC-DFIM-v0'``
+Speed Control DFIM Environment                                       ``'Cont-SC-DFIM-v0'``
 Finite Current Control DFIM Environment                              ``'Finite-CC-DFIM-v0'``
-Abc-Continuous Current Control DFIM Environment                      ``'AbcCont-CC-DFIM-v0'``
-Dq-Continuous Current Control DFIM Environment                       ``'DqCont-CC-DFIM-v0'``
+Current Control DFIM Environment                                     ``'Cont-CC-DFIM-v0'``
+
 =================================================================== ==============================
 
 .. toctree::
@@ -109,6 +108,7 @@ Dq-Continuous Current Control DFIM Environment                       ``'DqCont-C
    series_dc/series_dc_envs
    shunt_dc/shunt_dc_envs
    pmsm/pmsm_envs
+   eesm/eesm_envs
    synrm/synrm_envs
    scim/scim_envs
    dfim/dfim_envs

diff --git a/docs/parts/environments/pmsm/abccont_cc_pmsm.rst b/docs/parts/environments/pmsm/abccont_cc_pmsm.rst
diff --git a/docs/parts/environments/pmsm/abccont_sc_pmsm.rst b/docs/parts/environments/pmsm/abccont_sc_pmsm.rst
diff --git a/docs/parts/environments/pmsm/abccont_tc_pmsm.rst b/docs/parts/environments/pmsm/abccont_tc_pmsm.rst
diff --git a/docs/parts/environments/pmsm/cont_cc_pmsm.rst b/docs/parts/environments/pmsm/cont_cc_pmsm.rst
@@ -0,0 +1,4 @@
+Current Control Permanent Magnet Synchronous Motor Environment
+*****************************************************************************
+.. autoclass:: gym_electric_motor.envs.ContCurrentControlPermanentMagnetSynchronousMotorEnv
+   :members:
diff --git a/docs/parts/environments/pmsm/cont_sc_pmsm.rst b/docs/parts/environments/pmsm/cont_sc_pmsm.rst
@@ -0,0 +1,4 @@
+Speed Control Permanent Magnet Synchronous Motor Environment
+****************************************************************************
+.. autoclass:: gym_electric_motor.envs.ContSpeedControlPermanentMagnetSynchronousMotorEnv
+   :members:
diff --git a/docs/parts/environments/pmsm/cont_tc_pmsm.rst b/docs/parts/environments/pmsm/cont_tc_pmsm.rst
@@ -0,0 +1,4 @@
+Torque Control Permanent Magnet Synchronous Motor Environment
+******************************************************************************
+.. autoclass:: gym_electric_motor.envs.ContTorqueControlPermanentMagnetSynchronousMotorEnv
+   :members:
diff --git a/docs/parts/environments/pmsm/dqcont_cc_pmsm.rst b/docs/parts/environments/pmsm/dqcont_cc_pmsm.rst
diff --git a/docs/parts/environments/pmsm/dqcont_sc_pmsm.rst b/docs/parts/environments/pmsm/dqcont_sc_pmsm.rst
diff --git a/docs/parts/environments/pmsm/dqcont_tc_pmsm.rst b/docs/parts/environments/pmsm/dqcont_tc_pmsm.rst
diff --git a/docs/parts/environments/scim/abccont_cc_scim.rst b/docs/parts/environments/scim/abccont_cc_scim.rst
@@ -1,4 +1,4 @@
 Abc-Continuous Current Control Squirrel Cage Induction Motor Environment
 *************************************************************************
-.. autoclass:: gym_electric_motor.envs.AbcContCurrentControlSquirrelCageInductionMotorEnv
+.. autoclass:: gym_electric_motor.envs.ContCurrentControlSquirrelCageInductionMotorEnv
    :members:
diff --git a/docs/parts/environments/scim/abccont_sc_scim.rst b/docs/parts/environments/scim/abccont_sc_scim.rst
@@ -1,4 +1,4 @@
 Abc-Continuous Speed Control Squirrel Cage Induction Motor Environment
 **********************************************************************
-.. autoclass:: gym_electric_motor.envs.AbcContSpeedControlSquirrelCageInductionMotorEnv
+.. autoclass:: gym_electric_motor.envs.ContSpeedControlSquirrelCageInductionMotorEnv
    :members:
diff --git a/docs/parts/environments/scim/abccont_tc_scim.rst b/docs/parts/environments/scim/abccont_tc_scim.rst
@@ -1,4 +1,4 @@
 Abc-Continuous Torque Control Squirrel Cage Induction Motor Environment
 ************************************************************************
-.. autoclass:: gym_electric_motor.envs.AbcContTorqueControlSquirrelCageInductionMotorEnv
+.. autoclass:: gym_electric_motor.envs.ContTorqueControlSquirrelCageInductionMotorEnv
    :members:
diff --git a/docs/parts/environments/synrm/abccont_cc_synrm.rst b/docs/parts/environments/synrm/abccont_cc_synrm.rst
@@ -1,4 +1,4 @@
 Abc-Continuous Current Control Synchronous Reluctance Motor Environment
 *****************************************************************************
-.. autoclass:: gym_electric_motor.envs.AbcContCurrentControlSynchronousReluctanceMotorEnv
+.. autoclass:: gym_electric_motor.envs.ContCurrentControlSynchronousReluctanceMotorEnv
    :members:
diff --git a/docs/parts/environments/synrm/abccont_sc_synrm.rst b/docs/parts/environments/synrm/abccont_sc_synrm.rst
@@ -1,4 +1,4 @@
 Abc-Continuous Speed Control Synchronous Reluctance Motor Environment
 ****************************************************************************
-.. autoclass:: gym_electric_motor.envs.AbcContSpeedControlSynchronousReluctanceMotorEnv
+.. autoclass:: gym_electric_motor.envs.ContSpeedControlSynchronousReluctanceMotorEnv
    :members:
diff --git a/docs/parts/environments/synrm/abccont_tc_synrm.rst b/docs/parts/environments/synrm/abccont_tc_synrm.rst
@@ -1,4 +1,4 @@
 Abc-Continuous Torque Control Synchronous Reluctance Motor Environment
 ******************************************************************************
-.. autoclass:: gym_electric_motor.envs.AbcContTorqueControlSynchronousReluctanceMotorEnv
+.. autoclass:: gym_electric_motor.envs.ContTorqueControlSynchronousReluctanceMotorEnv
    :members:
diff --git a/docs/parts/physical_systems/electric_motors/eesm.rst b/docs/parts/physical_systems/electric_motors/eesm.rst
@@ -0,0 +1,39 @@
+Extertnally Excited Synchronous Motor
+######################################
+
+Schematic
+*********
+.. figure:: ../../../plots/ESB_EESM_dq.svg
+
+.. math:: 
+
+    L_{\sigma \mathrm{d}} &= L_\mathrm{d} - L_\mathrm{m} \\
+    L_{\sigma \mathrm{e}} &= L_\mathrm{e} - L_\mathrm{m} \\
+    \psi_\mathrm{d} &= L_\mathrm{d} i_\mathrm{sd} + L_\mathrm{m} i_\mathrm{e} \\
+    \psi_\mathrm{q} &= L_\mathrm{q} i_\mathrm{sq} 
+
+Electrical ODE
+**************
+
+.. math::
+    \sigma = \frac{L_\mathrm{d} L_\mathrm{e} - L_\mathrm{m}^2}{L_\mathrm{d} L_\mathrm{e}}
+
+.. math::
+    \frac{\mathrm{d} i_\mathrm{sd}}{\mathrm{d} t} &= - \frac{ R_\mathrm{s} }{ \sigma L_{\mathrm{d} } } i_\mathrm{sd} + \frac{L_\mathrm{q}}{\sigma L_\mathrm{d}} p \omega_\mathrm{me} i_\mathrm{sq} + \frac{L_\mathrm{m} R_\mathrm{e}}{\sigma L_\mathrm{d} L_\mathrm{e}} i_\mathrm{e} + \frac{1}{\sigma L_\mathrm{d}} u_\mathrm{d} - \frac{L_\mathrm{m}}{\sigma L_\mathrm{d} L_\mathrm{e}} u_\mathrm{e} \\
+    \frac{\mathrm{d} i_\mathrm{sq}}{\mathrm{d} t} &= -\frac{L_\mathrm{d}}{L_\mathrm{q}} p \omega_\mathrm{me} i_\mathrm{sd} - \frac{R_\mathrm{s}}{L_\mathrm{q}} i_\mathrm{sq} - \frac{L_\mathrm{m}}{L_\mathrm{q}} p \omega_\mathrm{me} i_\mathrm{e} + \frac{1}{L_\mathrm{q}} u_\mathrm{q} \\
+    \frac{\mathrm{d} i_\mathrm{e}}{\mathrm{d} t} &= \frac{L_\mathrm{m} R_\mathrm{s}}{\sigma L_\mathrm{d} L_\mathrm{e}} i_\mathrm{sd} - \frac{L_\mathrm{m} L_\mathrm{q}}{ \sigma L_\mathrm{d} L_\mathrm{e}} p \omega_\mathrm{me} i_\mathrm{sq} - \frac{R_\mathrm{s}}{ \sigma L_\mathrm{e}} i_\mathrm{e} - \frac{L_\mathrm{m}}{\sigma L_\mathrm{d}L_\mathrm{e}} u_\mathrm{d} + \frac{1}{\sigma L_\mathrm{e}} u_\mathrm{e}   \\
+    \frac{\mathrm{d} \varepsilon_\mathrm{el}}{\mathrm{d} t} &= p \omega_\mathrm{me} \\
+
+
+Torque Equation
+***************
+
+.. math::
+    T = 1.5 p (L_\mathrm{m}  i_\mathrm{e} + (L_\mathrm{d} - L_\mathrm{q})  i_\mathrm{sd})  i_\mathrm{sq}
+
+Code Documentation
+******************
+
+.. autoclass:: gym_electric_motor.physical_systems.electric_motors.ExternallyExcitedSynchronousMotor
+   :members:
+   :inherited-members:
diff --git a/docs/parts/physical_systems/electric_motors/electric_motor.rst b/docs/parts/physical_systems/electric_motors/electric_motor.rst
@@ -10,6 +10,7 @@ Electric Motors
     series
     shunt
     pmsm
+    eesm
     synrm
     scim
     dfim

diff --git a/docs/parts/state_action_processors/cos_sin_processor.rst b/docs/parts/state_action_processors/cos_sin_processor.rst
@@ -0,0 +1,6 @@
+Cos Sin Processor
+#####################
+
+.. autoclass:: gym_electric_motor.physical_system_wrappers.CosSinProcessor
+   :members:
+   :inherited-members:
diff --git a/docs/parts/state_action_processors/current_sum_processor.rst b/docs/parts/state_action_processors/current_sum_processor.rst
@@ -0,0 +1,6 @@
+Current Sum Processor
+######################
+
+.. autoclass:: gym_electric_motor.physical_system_wrappers.current_sum_processor.CurrentSumProcessor
+   :members:
+   :inherited-members:
diff --git a/docs/parts/state_action_processors/dead_time_processor.rst b/docs/parts/state_action_processors/dead_time_processor.rst
@@ -0,0 +1,6 @@
+Dead Time Processor
+#####################
+
+.. autoclass:: gym_electric_motor.physical_system_wrappers.DeadTimeProcessor
+   :members:
+   :inherited-members:
diff --git a/docs/parts/state_action_processors/dq_to_abc_action_processor.rst b/docs/parts/state_action_processors/dq_to_abc_action_processor.rst
@@ -0,0 +1,7 @@
+Dq To Abc Action Processor
+##########################
+
+.. autoclass:: gym_electric_motor.physical_system_wrappers.DqToAbcActionProcessor
+   :members:
+   :inherited-members:
+
diff --git a/docs/parts/state_action_processors/flux_observer.rst b/docs/parts/state_action_processors/flux_observer.rst
@@ -0,0 +1,6 @@
+Flux Observer
+######################
+
+.. autoclass:: gym_electric_motor.physical_system_wrappers.FluxObserver
+   :members:
+   :inherited-members:
-Original file line number
+Diff line change
@@ Expand Up / @@ -10,6 +10,7 @@ Electric Motors @@
         series
         shunt
         pmsm
+        eesm
         synrm
         scim
         dfim
@@ Expand Down @@