Implements a linear state feedback law to be used within a Controller. More...

#include <linear_state_feedback.hpp>

Inheritance diagram for LinearStateFeedback:

Public Member Functions
virtual ControlLaw *	clone () const
virtual uint	getNP () const
virtual uint	getNU () const
virtual uint	getNW () const
virtual uint	getNX () const
virtual uint	getNXA () const
virtual uint	getNY () const
virtual returnValue	init (double startTime=0.0, const DVector &x0_=emptyConstVector, const DVector &p_=emptyConstVector, const VariablesGrid &_yRef=emptyConstVariablesGrid)
virtual BooleanType	isDynamic () const
virtual BooleanType	isStatic () const
	LinearStateFeedback ()
	LinearStateFeedback (const DMatrix &_K, double _samplingTime=DEFAULT_SAMPLING_TIME)
	LinearStateFeedback (const LinearStateFeedback &rhs)
LinearStateFeedback &	operator= (const LinearStateFeedback &rhs)
virtual returnValue	step (double currentTime, const DVector &_x, const DVector &_p=emptyConstVector, const VariablesGrid &_yRef=emptyConstVariablesGrid)
virtual	~LinearStateFeedback ()
Protected Attributes
DMatrix	K

Detailed Description

Implements a linear state feedback law to be used within a Controller.

The class LinearStateFeedback implements a linear state feedback law to be used within a Controller.

Author:: Hans Joachim Ferreau, Boris Houska

Definition at line 57 of file linear_state_feedback.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO LinearStateFeedback::LinearStateFeedback ( )

Default constructor.

Definition at line 46 of file linear_state_feedback.cpp.

LinearStateFeedback::LinearStateFeedback	(	const DMatrix &	_K,
		double	_samplingTime = `DEFAULT_SAMPLING_TIME`
	)

Constructor which takes the gain matrix of the linear feedback law together with the sampling time.

Parameters:

[in]	_K	Linear feedback gain matrix.
[in]	_samplingTime	Sampling time.

Definition at line 52 of file linear_state_feedback.cpp.

LinearStateFeedback::LinearStateFeedback ( const LinearStateFeedback & rhs )

Copy constructor (deep copy).

Parameters:

[in] rhs Right-hand side object.

Definition at line 61 of file linear_state_feedback.cpp.

LinearStateFeedback::~LinearStateFeedback ( ) [virtual]

Destructor.

Definition at line 67 of file linear_state_feedback.cpp.

Member Function Documentation

ControlLaw * LinearStateFeedback::clone ( ) const [virtual]

Clone constructor (deep copy).

Returns:: Pointer to deep copy of base class type

Implements ControlLaw.

Definition at line 86 of file linear_state_feedback.cpp.

uint LinearStateFeedback::getNP ( ) const [virtual]

Returns number of parameters.

Returns:: Number of parameters

Reimplemented from ControlLaw.

Definition at line 165 of file linear_state_feedback.cpp.

uint LinearStateFeedback::getNU ( ) const [virtual]

Returns number of controls.

Returns:: Number of controls

Reimplemented from ControlLaw.

Definition at line 159 of file linear_state_feedback.cpp.

uint LinearStateFeedback::getNW ( ) const [virtual]

Returns number of (estimated) disturbances.

Returns:: Number of (estimated) disturbances

Reimplemented from ControlLaw.

Definition at line 171 of file linear_state_feedback.cpp.

uint LinearStateFeedback::getNX ( ) const [virtual]

Returns number of (estimated) differential states.

Returns:: Number of (estimated) differential states

Reimplemented from ControlLaw.

Definition at line 147 of file linear_state_feedback.cpp.

uint LinearStateFeedback::getNXA ( ) const [virtual]

Returns number of (estimated) algebraic states.

Returns:: Number of (estimated) algebraic states

Reimplemented from ControlLaw.

Definition at line 153 of file linear_state_feedback.cpp.

uint LinearStateFeedback::getNY ( ) const [virtual]

Returns number of process outputs.

Returns:: Number of process outputs

Reimplemented from ControlLaw.

Definition at line 177 of file linear_state_feedback.cpp.

returnValue LinearStateFeedback::init	(	double	startTime = `0.0`,
		const DVector &	x0_ = `emptyConstVector`,
		const DVector &	p_ = `emptyConstVector`,
		const VariablesGrid &	_yRef = `emptyConstVariablesGrid`
	)		`[virtual]`

Initializes the feedback law with given start values and performs a number of consistency checks.

Parameters:

[in]	_startTime	Start time.
[in]	_x	Initial value for differential states.
[in]	_p	Initial value for parameters.
[in]	_yRef	Initial value for reference trajectory.

Returns:: SUCCESSFUL_RETURN

Implements ControlLaw.

Definition at line 92 of file linear_state_feedback.cpp.

BooleanType LinearStateFeedback::isDynamic ( ) const [virtual]

Returns whether the control law is based on dynamic optimization or a static one.

Returns:: BT_TRUE iff control law is based on dynamic optimization,
BT_FALSE otherwise

Implements ControlLaw.

Definition at line 183 of file linear_state_feedback.cpp.

BooleanType LinearStateFeedback::isStatic ( ) const [virtual]

Returns whether the control law is a static one or based on dynamic optimization.

Returns:: BT_TRUE iff control law is a static one,
BT_FALSE otherwise

Implements ControlLaw.

Definition at line 189 of file linear_state_feedback.cpp.

LinearStateFeedback & LinearStateFeedback::operator= ( const LinearStateFeedback & rhs )

Assignment operator (deep copy).

Parameters:

[in] rhs Right-hand side object.

Definition at line 72 of file linear_state_feedback.cpp.

returnValue LinearStateFeedback::step	(	double	currentTime,
		const DVector &	_x,
		const DVector &	_p = `emptyConstVector`,
		const VariablesGrid &	_yRef = `emptyConstVariablesGrid`
	)		`[virtual]`

Performs next step of the feedback law based on given inputs.

Parameters:

[in]	currentTime	Current time.
[in]	_x	Most recent value for differential states.
[in]	_p	Most recent value for parameters.
[in]	_yRef	Current piece of reference trajectory.

Returns:: SUCCESSFUL_RETURN,
RET_BLOCK_NOT_READY,
RET_VECTOR_DIMENSION_MISMATCH,
RET_CONTROLLAW_STEP_FAILED

Implements ControlLaw.

Definition at line 103 of file linear_state_feedback.cpp.

Member Data Documentation

DMatrix LinearStateFeedback::K [protected]

Linear state feedback gain matrix.

Definition at line 204 of file linear_state_feedback.hpp.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation