DUNE::Control::LinearSystem Class Reference

Classes
class	Error

Public Member Functions
	LinearSystem (void)
	LinearSystem (const Math::Matrix &a, const Math::Matrix &b, const Math::Matrix &c, const Math::Matrix &d, double Ts=0)
LinearSystem &	c2d (double Ts)
LinearSystem &	append (const LinearSystem &a_sys, short n)
Math::Matrix	simLinearSystem (const Math::Matrix &a_u, double threshold)
const Math::Matrix &	getA (void) const
const Math::Matrix &	getB (void) const
const Math::Matrix &	getC (void) const
const Math::Matrix &	getD (void) const
const Math::Matrix &	getX0 (void) const
const Math::Matrix &	getY0 (void) const
short	getIn (void) const
short	getOut (void) const
short	getSt (void) const
double	getTs (void) const
void	setX0 (Math::Matrix &a_x0)

Friends
DUNE_DLL_SYM std::ostream &	operator<< (std::ostream &os, const LinearSystem &sys)

Constructor & Destructor Documentation

DUNE::Control::LinearSystem::LinearSystem

(

void

)

Default Constructor for a null system.

DUNE::Control::LinearSystem::LinearSystem	(	const Math::Matrix &	a,
		const Math::Matrix &	b,
		const Math::Matrix &	c,
		const Math::Matrix &	d,
		double	Ts = 0
	)

Constructor for continuous system.

References DUNE::Math::Matrix::columns(), DUNE::Math::Matrix::resizeAndFill(), and DUNE::Math::Matrix::rows().

Member Function Documentation

LinearSystem & DUNE::Control::LinearSystem::append	(	const LinearSystem &	a_sys,
		short	n
	)

Append a linear systems n times (increasing it's dimention)

References DUNE::Math::Matrix::blkDiag(), getA(), getB(), getC(), getD(), getIn(), getOut(), getSt(), getTs(), getX0(), getY0(), and DUNE::Math::Matrix::vertCat().

LinearSystem & DUNE::Control::LinearSystem::c2d

(

double

Ts

)

Converts a continuous system to it's discrete representation.

References DUNE::Math::Matrix::expmts().

const Math::Matrix& DUNE::Control::LinearSystem::getA ( void  ) const

inline

Retrive A matrix.

Referenced by append().

const Math::Matrix& DUNE::Control::LinearSystem::getB ( void  ) const

inline

Retrive B matrix.

Referenced by append().

const Math::Matrix& DUNE::Control::LinearSystem::getC ( void  ) const

inline

Retrive C matrix.

Referenced by append().

const Math::Matrix& DUNE::Control::LinearSystem::getD ( void  ) const

inline

Retrive D matrix.

Referenced by append().

short DUNE::Control::LinearSystem::getIn ( void  ) const

inline

Retrive number of inputs.

Referenced by append().

short DUNE::Control::LinearSystem::getOut ( void  ) const

inline

Retrive number of outputs.

Referenced by append().

short DUNE::Control::LinearSystem::getSt ( void  ) const

inline

Retrive number of states.

Referenced by append().

double DUNE::Control::LinearSystem::getTs ( void  ) const

inline

Retrive discretization time step.

Referenced by append().

const Math::Matrix& DUNE::Control::LinearSystem::getX0 ( void  ) const

inline

Retrive currrent state vector (X0)

Referenced by append().

const Math::Matrix& DUNE::Control::LinearSystem::getY0 ( void  ) const

inline

Retrive current output vector (Y0)

Referenced by append().

void DUNE::Control::LinearSystem::setX0 ( Math::Matrix &  a_x0 )

inline

Set currrent state vector (X0)

Matrix DUNE::Control::LinearSystem::simLinearSystem	(	const Math::Matrix &	a_u,
		double	threshold
	)

Simulates a linear systems at the current time step considering the current state m_X0 before simulating and updates both m_X0 and m_Y0 respectively with the new state and output.

Parameters

a_u	the control input
threshold	input output difference threshold for conditional state update. Will not update state if difference is larger than threshold

Returns

m_Y0 the output

References DUNE::Math::Matrix::columns(), and DUNE::Math::Matrix::rows().

Friends And Related Function Documentation

DUNE_DLL_SYM std::ostream& operator<< ( std::ostream &  os, const LinearSystem &  sys  )

friend

LinearSystem print.

Collaboration diagram for DUNE::Control::LinearSystem: