Base class for interfacing online feedback laws to be used within a Controller. More...

#include <control_law.hpp>

Inheritance diagram for ControlLaw:

Public Member Functions
virtual ControlLaw *	clone () const =0
	ControlLaw ()
	ControlLaw (double _samplingTime)
	ControlLaw (const ControlLaw &rhs)
virtual returnValue	feedbackStep (double currentTime, const DVector &_x, const DVector &_p=emptyConstVector, const VariablesGrid &_yRef=emptyConstVariablesGrid)
virtual double	getLengthControlHorizon () const
virtual double	getLengthPredictionHorizon () 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
returnValue	getP (DVector &_p) const
returnValue	getU (DVector &_u) const
virtual returnValue	init (double startTime=0.0, const DVector &_x=emptyConstVector, const DVector &_p=emptyConstVector, const VariablesGrid &_yRef=emptyConstVariablesGrid)=0
virtual returnValue	initializeAlgebraicStates (const VariablesGrid &_xa_init)
virtual returnValue	initializeAlgebraicStates (const char *fileName)
virtual returnValue	initializeControls (const VariablesGrid &_u_init)
virtual returnValue	initializeControls (const char *fileName)
virtual BooleanType	isDynamic () const =0
virtual BooleanType	isInRealTimeMode () const
virtual BooleanType	isStatic () const =0
ControlLaw &	operator= (const ControlLaw &rhs)
virtual returnValue	preparationStep (double nextTime=0.0, const VariablesGrid &_yRef=emptyConstVariablesGrid)
virtual returnValue	shift (double timeShift=-1.0)
virtual returnValue	step (double currentTime, const DVector &_x, const DVector &_p=emptyConstVector, const VariablesGrid &_yRef=emptyConstVariablesGrid)=0
virtual returnValue	step (const DVector &_x, const DVector &_p=emptyConstVector, const VariablesGrid &_yRef=emptyConstVariablesGrid)
virtual	~ControlLaw ()
Protected Attributes
DVector	p
DVector	u

Detailed Description

Base class for interfacing online feedback laws to be used within a Controller.

The class ControlLaw serves as a base class for interfacing online control laws to be used within a Controller. Most prominently, the control law can be a RealTimeAlgorithm solving dynamic optimization problems. But also classical feedback laws like LQR or PID controller or feedforward laws can be interfaced.

After initialization, the ControlLaw is evaluated with a given fixed sampling time by calling the step-routines. Additionally, the steps can be divided into a preparation step and a feedback step that actually computes the feedback. This feature has mainly been added to deal with RealTimeAlgorithm can make use of this division in order to reduce the feedback delay.

Author:: Hans Joachim Ferreau, Boris Houska

Definition at line 64 of file control_law.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO ControlLaw::ControlLaw ( )

Default constructor.

Definition at line 45 of file control_law.cpp.

ControlLaw::ControlLaw ( double _samplingTime )

Constructor which takes the sampling time.

Parameters:

[in] _samplingTime Sampling time.

Definition at line 50 of file control_law.cpp.

ControlLaw::ControlLaw ( const ControlLaw & rhs )

Copy constructor (deep copy).

Parameters:

[in] rhs Right-hand side object.

Definition at line 56 of file control_law.cpp.

ControlLaw::~ControlLaw ( ) [virtual]

Destructor.

Definition at line 63 of file control_law.cpp.

Member Function Documentation

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

Clone constructor (deep copy).

Returns:: Pointer to deep copy of base class type

Implemented in PIDcontroller, FeedforwardLaw, LinearStateFeedback, and RealTimeAlgorithm.

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

Performs next feedback step of the control 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 (if not specified during previous preparationStep).

Returns:: SUCCESSFUL_RETURN,
RET_BLOCK_NOT_READY,
RET_VECTOR_DIMENSION_MISMATCH,
RET_CONTROLLAW_STEP_FAILED

Definition at line 119 of file control_law.cpp.

double ControlLaw::getLengthControlHorizon ( ) const [virtual]

Returns length of the control horizon (for the case a predictive control law is used).

Returns:: Length of the control horizon

Reimplemented in RealTimeAlgorithm.

Definition at line 190 of file control_law.cpp.

double ControlLaw::getLengthPredictionHorizon ( ) const [virtual]

Returns length of the prediction horizon (for the case a predictive control law is used).

Returns:: Length of the prediction horizon

Reimplemented in RealTimeAlgorithm.

Definition at line 184 of file control_law.cpp.

uint ControlLaw::getNP ( ) const [virtual]

Returns number of parameters.

Returns:: Number of parameters

Reimplemented in RealTimeAlgorithm, PIDcontroller, FeedforwardLaw, and LinearStateFeedback.

Definition at line 166 of file control_law.cpp.

uint ControlLaw::getNU ( ) const [virtual]

Returns number of controls.

Returns:: Number of controls

Reimplemented in RealTimeAlgorithm, PIDcontroller, FeedforwardLaw, and LinearStateFeedback.

Definition at line 160 of file control_law.cpp.

uint ControlLaw::getNW ( ) const [virtual]

Returns number of (estimated) disturbances.

Returns:: Number of (estimated) disturbances

Reimplemented in RealTimeAlgorithm, PIDcontroller, FeedforwardLaw, and LinearStateFeedback.

Definition at line 172 of file control_law.cpp.

uint ControlLaw::getNX ( ) const [virtual]

Returns number of (estimated) differential states.

Returns:: Number of (estimated) differential states

Reimplemented in RealTimeAlgorithm, PIDcontroller, FeedforwardLaw, and LinearStateFeedback.

Definition at line 148 of file control_law.cpp.

uint ControlLaw::getNXA ( ) const [virtual]

Returns number of (estimated) algebraic states.

Returns:: Number of (estimated) algebraic states

Reimplemented in RealTimeAlgorithm, PIDcontroller, FeedforwardLaw, and LinearStateFeedback.

Definition at line 154 of file control_law.cpp.

uint ControlLaw::getNY ( ) const [virtual]

Returns number of process outputs.

Returns:: Number of process outputs

Reimplemented in RealTimeAlgorithm, PIDcontroller, FeedforwardLaw, and LinearStateFeedback.

Definition at line 178 of file control_law.cpp.

returnValue ControlLaw::getP ( DVector & _p ) const [inline]

Returns parameter signal as determined by the control law.

Parameters:

[out] _p Parameter signal as determined by the control law.

Returns:: SUCCESSFUL_RETURN

returnValue ControlLaw::getU ( DVector & _u ) const [inline]

Returns control signal as determined by the control law.

Parameters:

[out] _u Control signal as determined by the control law.

Returns:: SUCCESSFUL_RETURN

virtual returnValue ControlLaw::init	(	double	startTime = `0.0`,
		const DVector &	_x = `emptyConstVector`,
		const DVector &	_p = `emptyConstVector`,
		const VariablesGrid &	_yRef = `emptyConstVariablesGrid`
	)		`[pure virtual]`

Initializes the control 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,
RET_CONTROLLAW_INIT_FAILED

Implemented in PIDcontroller, FeedforwardLaw, and LinearStateFeedback.

returnValue ControlLaw::initializeAlgebraicStates ( const VariablesGrid & _xa_init ) [virtual]

Initializes algebraic states of the control law.

Parameters:

[in] _xa_init Initial value for algebraic states.

Returns:: SUCCESSFUL_RETURN

Reimplemented in RealTimeAlgorithm.

Definition at line 83 of file control_law.cpp.

returnValue ControlLaw::initializeAlgebraicStates ( const char * fileName ) [virtual]

Initializes algebraic states of the control law from data file.

Parameters:

[in] fileName Name of file containing initial value for algebraic states.

Returns:: SUCCESSFUL_RETURN,
RET_FILE_CAN_NOT_BE_OPENED

Reimplemented in RealTimeAlgorithm.

Definition at line 89 of file control_law.cpp.

returnValue ControlLaw::initializeControls ( const VariablesGrid & _u_init ) [virtual]

Initializes controls of the control law.

Parameters:

[in] _u_init Initial value for controls.

Returns:: SUCCESSFUL_RETURN

Reimplemented in RealTimeAlgorithm.

Definition at line 96 of file control_law.cpp.

returnValue ControlLaw::initializeControls ( const char * fileName ) [virtual]

Initializes controls of the control law from data file.

Parameters:

[in] fileName Name of file containing initial value for controls.

Returns:: SUCCESSFUL_RETURN,
RET_FILE_CAN_NOT_BE_OPENED

Reimplemented in RealTimeAlgorithm.

Definition at line 102 of file control_law.cpp.

virtual BooleanType ControlLaw::isDynamic ( ) const [pure 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

Implemented in RealTimeAlgorithm, PIDcontroller, FeedforwardLaw, and LinearStateFeedback.

BooleanType ControlLaw::isInRealTimeMode ( ) const [virtual]

Returns whether the control law is working in real-time mode.

Returns:: BT_TRUE iff control law is working in real-time mode,
BT_FALSE otherwise

Reimplemented in RealTimeAlgorithm.

Definition at line 200 of file control_law.cpp.

virtual BooleanType ControlLaw::isStatic ( ) const [pure 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

Implemented in RealTimeAlgorithm, PIDcontroller, FeedforwardLaw, and LinearStateFeedback.

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

Assignment operator (deep copy).

Parameters:

[in] rhs Right-hand side object.

Definition at line 68 of file control_law.cpp.

returnValue ControlLaw::preparationStep	(	double	nextTime = `0.0`,
		const VariablesGrid &	_yRef = `emptyConstVariablesGrid`
	)		`[virtual]`

Performs next preparation step of the control law based on given inputs.

Parameters:

[in]	nextTime	Time at next step.
[in]	_yRef	Piece of reference trajectory for next step (required for hotstarting).

Returns:: SUCCESSFUL_RETURN

Reimplemented in RealTimeAlgorithm.

Definition at line 130 of file control_law.cpp.

returnValue ControlLaw::shift ( double timeShift = -1.0 ) [virtual]

Shifts the data for preparating the next real-time step.

Returns:: RET_NOT_YET_IMPLEMENTED

Reimplemented in RealTimeAlgorithm.

Definition at line 140 of file control_law.cpp.

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

Performs next step of the control 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 or piece of reference trajectory for next step (required for hotstarting).

Returns:: SUCCESSFUL_RETURN,
RET_BLOCK_NOT_READY,
RET_VECTOR_DIMENSION_MISMATCH,
RET_CONTROLLAW_STEP_FAILED

Implemented in PIDcontroller, FeedforwardLaw, and LinearStateFeedback.

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

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

Parameters:

[in]	_x	Most recent value for differential states.
[in]	_p	Most recent value for parameters.
[in]	_yRef	Current piece of reference trajectory or piece of reference trajectory for next step (required for hotstarting).

Returns:: SUCCESSFUL_RETURN,
RET_BLOCK_NOT_READY,
RET_VECTOR_DIMENSION_MISMATCH,
RET_CONTROLLAW_STEP_FAILED

Definition at line 110 of file control_law.cpp.

Member Data Documentation

DVector ControlLaw::p [protected]

Time-constant parameter signals as determined by the control law.

Definition at line 342 of file control_law.hpp.

DVector ControlLaw::u [protected]

First piece of time-varying control signals as determined by the control law.

Definition at line 341 of file control_law.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