DDPG current controller for RL load shows steady-state offset in id/iq after training (adapted from "Train TD3 Agent for PMSM Control")

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Syed Mohammad Maaz
Syed Mohammad Maaz 2025-10-8，17:27
编辑： Syed Mohammad Maaz 2025-10-8，17:28
I adapted the official example “Train TD3 Agent for PMSM Control” (can be found here) to a a simple current controller for RL load and trained a very similar DDPG agent. Training looks stable (reward converges but not zero), but when I run the model after training I see a steady-state offset in both id and iq.
The official TD3 PMSM example also shows a small steady-state current offset and states it’s within ~2%. My DDPG variant exhibits the same behavior but with higher offset. I’d like guidance on eliminating the offset (or best practice to do so) rather than accepting the offset.
I have have also uploaded the three modified files as well for this simple current controller.

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