Calculates the control inputs of the Process based on the Process outputs. More...

#include <controller.hpp>

Inheritance diagram for Controller:

[legend]

Public Member Functions
	Controller ()

	Controller (ControlLaw &_controlLaw, Estimator &_estimator, ReferenceTrajectory &_referenceTrajectory=emptyReferenceTrajectory)

	Controller (ControlLaw &_controlLaw, ReferenceTrajectory &_referenceTrajectory=emptyReferenceTrajectory)

	Controller (const Controller &rhs)

returnValue	disable ()

returnValue	enable ()

virtual returnValue	feedbackStep (double currentTime, const DVector &_y, const VariablesGrid &_yRef=emptyConstVariablesGrid)

double	getNextSamplingInstant (double currentTime)

uint	getNP () const

uint	getNU () const

uint	getNY () const

returnValue	getP (DVector &_p) const

double	getPreviousRealRuntime ()

double	getSamplingTimeControlLaw ()

double	getSamplingTimeEstimator ()

returnValue	getU (DVector &_u) const

BooleanType	hasDynamicControlLaw () const

BooleanType	hasEstimator () const

BooleanType	hasReferenceTrajectory () const

BooleanType	hasStaticControlLaw () const

virtual returnValue	init (double startTime=0.0, const DVector &_x0=emptyConstVector, const DVector &_p=emptyConstVector, const VariablesGrid &_yRef=emptyConstVariablesGrid)

returnValue	initializeAlgebraicStates (const VariablesGrid &_xa_init)

returnValue	initializeAlgebraicStates (const char *fileName)

virtual returnValue	obtainEstimates (double currentTime, const DVector &_y, DVector &xEst, DVector &pEst)

Controller &	operator= (const Controller &rhs)

virtual returnValue	preparationStep (double nextTime=0.0, const VariablesGrid &_yRef=emptyConstVariablesGrid)

returnValue	setControlLaw (ControlLaw &_controlLaw)

returnValue	setEstimator (Estimator &_estimator)

returnValue	setReferenceTrajectory (ReferenceTrajectory &_referenceTrajectory)

virtual returnValue	step (double currentTime, const DVector &_y, const VariablesGrid &_yRef=emptyConstVariablesGrid)

virtual returnValue	step (double currentTime, uint dim, const double *const _y, const VariablesGrid &_yRef=emptyConstVariablesGrid)

virtual	~Controller ()

Public Member Functions inherited from SimulationBlock
BlockName	getName () const

double	getSamplingTime () const

BooleanType	isDefined () const

SimulationBlock &	operator= (const SimulationBlock &rhs)

returnValue	setName (BlockName _name)

returnValue	setSamplingTime (double _samplingTime)

	SimulationBlock ()

	SimulationBlock (BlockName _name, double _samplingTime=DEFAULT_SAMPLING_TIME)

	SimulationBlock (const SimulationBlock &rhs)

virtual	~SimulationBlock ()

Public Member Functions inherited from UserInteraction
virtual int	addPlotWindow (PlotWindow &_window)

virtual int	operator<< (PlotWindow &_window)

virtual int	operator<< (LogRecord &_record)

UserInteraction &	operator= (const UserInteraction &rhs)

	UserInteraction ()

	UserInteraction (const UserInteraction &rhs)

virtual	~UserInteraction ()

Public Member Functions inherited from Options
returnValue	addOptionsList ()

returnValue	ensureConsistency ()

returnValue	ensureConsistency ()

returnValue	get (OptionsName name, int &value) const

returnValue	get (OptionsName name, double &value) const

returnValue	get (OptionsName name, std::string &value) const

returnValue	get (uint idx, OptionsName name, int &value) const

returnValue	get (uint idx, OptionsName name, double &value) const

returnValue	get (uint idx, OptionsName name, std::string &value) const

uint	getNumOptionsLists () const

Options	getOptions (uint idx) const

Options &	operator= (const Options &rhs)

Options &	operator= (const Options &rhs)

	Options ()

	Options ()

	Options (const Options &rhs)

	Options (const Options &rhs)

	Options ()

	Options (const OptionsList &_optionsList)

returnValue	print () const

returnValue	print () const

returnValue	printOptionsList () const

returnValue	printOptionsList (uint idx) const

returnValue	set (OptionsName name, int value)

returnValue	set (OptionsName name, double value)

returnValue	set (OptionsName name, const std::string &value)

returnValue	set (uint idx, OptionsName name, int value)

returnValue	set (uint idx, OptionsName name, double value)

returnValue	set (uint idx, OptionsName name, const std::string &value)

returnValue	setOptions (const Options &arg)

returnValue	setOptions (uint idx, const Options &arg)

returnValue	setToDefault ()

returnValue	setToDefault ()

returnValue	setToFast ()

returnValue	setToFast ()

returnValue	setToMPC ()

returnValue	setToReliable ()

returnValue	setToReliable ()

	~Options ()

	~Options ()

virtual	~Options ()

Public Member Functions inherited from Logging
int	addLogRecord (LogRecord &record)

returnValue	getAll (LogName _name, MatrixVariablesGrid &values) const

returnValue	getFirst (LogName _name, DMatrix &firstValue) const

returnValue	getFirst (LogName _name, VariablesGrid &firstValue) const

returnValue	getLast (LogName _name, DMatrix &lastValue) const

returnValue	getLast (LogName _name, VariablesGrid &lastValue) const

returnValue	getLogRecord (LogRecord &_record) const

uint	getNumLogRecords () const

	Logging ()

int	operator<< (LogRecord &record)

returnValue	printLoggingInfo () const

returnValue	printNumDoubles () const

returnValue	setAll (LogName _name, const MatrixVariablesGrid &values)

returnValue	setLast (LogName _name, const DMatrix &value, double time=-INFTY)

returnValue	setLast (LogName _name, VariablesGrid &value, double time=-INFTY)

returnValue	updateLogRecord (LogRecord &_record) const

virtual	~Logging ()

Public Member Functions inherited from Plotting
int	addPlotWindow (PlotWindow &_window)

uint	getNumPlotWindows () const

returnValue	getPlotWindow (uint idx, PlotWindow &_window) const

returnValue	getPlotWindow (PlotWindow &_window) const

int	operator<< (PlotWindow &_window)

Plotting &	operator= (const Plotting &rhs)

virtual returnValue	plot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)

	Plotting ()

	Plotting (const Plotting &rhs)

virtual returnValue	replot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)

virtual	~Plotting ()

Protected Member Functions
virtual returnValue	getCurrentReference (double tStart, VariablesGrid &_yRef) const

virtual returnValue	setupLogging ()

virtual returnValue	setupOptions ()

Protected Member Functions inherited from UserInteraction
virtual returnValue	getPlotDataFromMemberLoggings (PlotWindow &_window) const

BlockStatus	getStatus () const

returnValue	setStatus (BlockStatus _status)

Protected Member Functions inherited from Options
returnValue	addOption (OptionsName name, int value)

returnValue	addOption (OptionsName name, double value)

returnValue	addOption (OptionsName name, const std::string &value)

returnValue	addOption (uint idx, OptionsName name, int value)

returnValue	addOption (uint idx, OptionsName name, double value)

returnValue	addOption (uint idx, OptionsName name, const std::string &value)

returnValue	clearOptionsList ()

returnValue	copy (const Options &rhs)

returnValue	copy (const Options &rhs)

returnValue	declareOptionsUnchanged ()

returnValue	declareOptionsUnchanged (uint idx)

BooleanType	haveOptionsChanged () const

BooleanType	haveOptionsChanged (uint idx) const

Protected Attributes
ControlLaw *	controlLaw

RealClock	controlLawClock

Estimator *	estimator

BooleanType	isEnabled

ReferenceTrajectory *	referenceTrajectory

Protected Attributes inherited from SimulationBlock
BlockName	name

RealClock	realClock

double	samplingTime

Protected Attributes inherited from UserInteraction
BlockStatus	status

Protected Attributes inherited from Options
std::vector< OptionsList >	lists

Protected Attributes inherited from Logging
std::vector< LogRecord >	logCollection

int	logIdx

Protected Attributes inherited from Plotting
PlotCollection	plotCollection

Additional Inherited Members
Public Attributes inherited from Options
real_t	boundRelaxation

real_t	boundTolerance

int	dropBoundPriority

int_t	dropBoundPriority

int	dropEqConPriority

int_t	dropEqConPriority

int	dropIneqConPriority

int_t	dropIneqConPriority

int	enableCholeskyRefactorisation

int_t	enableCholeskyRefactorisation

int	enableDriftCorrection

int_t	enableDriftCorrection

BooleanType	enableDropInfeasibles

BooleanType	enableEqualities

BooleanType	enableFarBounds

BooleanType	enableFlippingBounds

BooleanType	enableFullLITests

BooleanType	enableInertiaCorrection

BooleanType	enableNZCTests

BooleanType	enableRamping

BooleanType	enableRegularisation

real_t	epsDen

real_t	epsFlipping

real_t	epsIterRef

real_t	epsLITests

real_t	epsNum

real_t	epsNZCTests

real_t	epsRegularisation

real_t	finalRamping

real_t	growFarBounds

real_t	initialFarBounds

real_t	initialRamping

SubjectToStatus	initialStatusBounds

real_t	maxDualJump

real_t	maxPrimalJump

int	numRefinementSteps

int_t	numRefinementSteps

int	numRegularisationSteps

int_t	numRegularisationSteps

PrintLevel	printLevel

real_t	rcondSMin

real_t	terminationTolerance

Detailed Description

Calculates the control inputs of the Process based on the Process outputs.

The class Controller is one of the two main building-blocks within the SimulationEnvironment and complements the Process. It contains an online control law (e.g. a DynamicFeedbackLaw comprising a RealTimeAlgorithm) for obtaining the control inputs of the Process.

A state/parameter estimator as well as a ReferenceTrajectory can optionally be used to provide estimated quantities and a reference values to the control law. The reference trajectory can either be specified beforehand as member of the Controller or, alternatively, provided at each step in order to allow for reference trajectories that can be adapted online.

Author: Hans Joachim Ferreau, Boris Houska

Definition at line 71 of file controller.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO Controller::Controller ( )

Default constructor.

Definition at line 45 of file controller.cpp.

Controller::Controller	(	ControlLaw &	_controlLaw,
		Estimator &	_estimator,
		ReferenceTrajectory &	_referenceTrajectory = `emptyReferenceTrajectory`
	)

Constructor which takes a control law, an estimator and a reference trajectory for computing the control/parameter signals.

Parameters

[in]	_controlLaw	Control law to be used for computing the control/parameter signals.
[in]	_estimator	Estimator for estimating quantities required by the control law based on the process output.
[in]	_referenceTrajectory	Reference trajectory to be used by the control law.

Definition at line 60 of file controller.cpp.

Controller::Controller	(	ControlLaw &	_controlLaw,
		ReferenceTrajectory &	_referenceTrajectory = `emptyReferenceTrajectory`
	)

Constructor which takes a control law and a reference trajectory for computing the control/parameter signals.

Parameters

[in]	_controlLaw	Control law to be used for computing the control/parameter signals.
[in]	_referenceTrajectory	Reference trajectory to be used by the control law.

Definition at line 92 of file controller.cpp.

Controller::Controller ( const Controller & rhs )

Copy constructor (deep copy).

@param[in] rhs      Right-hand side object.

Definition at line 120 of file controller.cpp.

Controller::~Controller ( )

virtual

Destructor.

Definition at line 141 of file controller.cpp.

Member Function Documentation

returnValue Controller::disable ( )

inline

Disables the controller (i.e. initial values kept and no steps are performed).

Returns: SUCCESSFUL_RETURN

returnValue Controller::enable ( )

inline

Enables the controller.

Returns: SUCCESSFUL_RETURN

returnValue Controller::feedbackStep	(	double	currentTime,
		const DVector &	_y,
		const VariablesGrid &	_yRef = `emptyConstVariablesGrid`
	)

virtual

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

@param[in]  currentTime     Current time.
@param[in]  _y                      Most recent process output.
@param[in]  _yRef           Current piece of reference trajectory (if not specified during previous preparationStep).

\note If a non-empty reference trajectory is provided, this one is used
      instead of the possibly set-up build-in one.

Returns: SUCCESSFUL_RETURN,
RET_BLOCK_NOT_READY,
RET_CONTROLLER_STEP_FAILED,
RET_NO_CONTROLLAW_SPECIFIED

Definition at line 424 of file controller.cpp.

returnValue Controller::getCurrentReference	(	double	tStart,
		VariablesGrid &	_yRef
	)		const

protectedvirtual

Returns current piece of the reference trajectory starting at given time.

@param[in]  tStart  Start time of reference piece.
@param[out] _yRef   Current piece of the reference trajectory.

Returns: SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

Definition at line 573 of file controller.cpp.

double Controller::getNextSamplingInstant ( double currentTime )

Determines next sampling instant of controller based on the sampling times of control law and estimator

Parameters

[in] currentTime Current time.

Returns: Next sampling instant of controller.

Definition at line 518 of file controller.cpp.

uint Controller::getNP ( ) const

inline

Returns number of parameter signals computed by the controller.

\return Number of parameter signals

uint Controller::getNU ( ) const

inline

Returns number of control signals computed by the controller.

\return Number of control signals

uint Controller::getNY ( ) const

inline

Returns number of process outputs expected by the controller.

\return Number of process outputs

returnValue Controller::getP ( DVector & _p ) const

inline

Returns computed parameter signals.

@param[out]  _y                     Computed parameter signals.

Returns: SUCCESSFUL_RETURN

double Controller::getPreviousRealRuntime ( )

inline

Returns previous real runtime of the controller (e.g. for determining computational delay).

Returns: Previous real runtime of the controller.

double Controller::getSamplingTimeControlLaw ( )

inline

Returns sampling time of control law.

Returns: Sampling time of control law.

double Controller::getSamplingTimeEstimator ( )

inline

Returns sampling time of estimator.

Returns: Sampling time of estimator.

returnValue Controller::getU ( DVector & _u ) const

inline

Returns computed control signals.

@param[out]  _y                     Computed control signals.

Returns: SUCCESSFUL_RETURN

BooleanType Controller::hasDynamicControlLaw ( ) const

inline

Returns whether controller comprises a dynamic control law.

Returns: BT_TRUE iff controller comprises a dynamic control law,
BT_FALSE otherwise

BooleanType Controller::hasEstimator ( ) const

inline

Returns whether controller comprises an estimator.

Returns: BT_TRUE iff controller comprises an estimator,
BT_FALSE otherwise

BooleanType Controller::hasReferenceTrajectory ( ) const

inline

Returns whether controller comprises a build-in reference trajectory.

Returns: BT_TRUE iff controller comprises a build-in reference trajectory,
BT_FALSE otherwise

BooleanType Controller::hasStaticControlLaw ( ) const

inline

Returns whether controller comprises a static control law.

Returns: BT_TRUE iff controller comprises a static control law,
BT_FALSE otherwise

returnValue Controller::init	(	double	startTime = `0.0`,
		const DVector &	_x0 = `emptyConstVector`,
		const DVector &	_p = `emptyConstVector`,
		const VariablesGrid &	_yRef = `emptyConstVariablesGrid`
	)

virtual

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

Parameters

[in]	_startTime	Start time.
[in]	_x0	Initial value for differential states.
[in]	_p	Initial value for parameters.
[in]	_yRef	Initial value for reference trajectory.

Note: If a non-empty reference trajectory is provided, this one is used instead of the possibly set-up build-in one.

Returns: SUCCESSFUL_RETURN,
RET_CONTROLLER_INIT_FAILED,
RET_NO_CONTROLLAW_SPECIFIED,
RET_BLOCK_DIMENSION_MISMATCH

Definition at line 270 of file controller.cpp.

returnValue Controller::initializeAlgebraicStates ( const VariablesGrid & _xa_init )

Initializes algebraic states of the control law.

@param[in]  _xa_init        Initial value for algebraic states.

Returns: SUCCESSFUL_RETURN

Definition at line 246 of file controller.cpp.

returnValue Controller::initializeAlgebraicStates ( const char * fileName )

Initializes algebraic states of the control law from data file.

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

Returns: SUCCESSFUL_RETURN,
RET_FILE_CAN_NOT_BE_OPENED

Definition at line 256 of file controller.cpp.

returnValue Controller::obtainEstimates	(	double	currentTime,
		const DVector &	_y,
		DVector &	xEst,
		DVector &	pEst
	)

virtual

Definition at line 383 of file controller.cpp.

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

Assignment operator (deep copy).

    @param[in] rhs  Right-hand side object.

Definition at line 154 of file controller.cpp.

returnValue Controller::preparationStep	(	double	nextTime = `0.0`,
		const VariablesGrid &	_yRef = `emptyConstVariablesGrid`
	)

virtual

Performs next preparation step of the contoller based on given inputs.

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

\note If a non-empty reference trajectory is provided, this one is used
      instead of the possibly set-up build-in one.

Returns: SUCCESSFUL_RETURN,
RET_CONTROLLER_STEP_FAILED,
RET_NO_CONTROLLAW_SPECIFIED

Definition at line 474 of file controller.cpp.

returnValue Controller::setControlLaw ( ControlLaw & _controlLaw )

Assigns new control law to be used for computing control/parameter signals.

@param[in]  _controlLaw             New control law.

Returns: SUCCESSFUL_RETURN

Definition at line 192 of file controller.cpp.

returnValue Controller::setEstimator ( Estimator & _estimator )

Assigns new estimator for estimating quantities required by the control law based on the process output.

Parameters

[in] _estimator New estimator.

Returns: SUCCESSFUL_RETURN

Definition at line 209 of file controller.cpp.

returnValue Controller::setReferenceTrajectory ( ReferenceTrajectory & _referenceTrajectory )

Assigns new reference trajectory to be used by the control law.

@param[in]  _referenceTrajectory    New reference trajectory.

Returns: SUCCESSFUL_RETURN

Definition at line 227 of file controller.cpp.

returnValue Controller::setupLogging ( )

protectedvirtual

Sets-up default logging information.

Returns: SUCCESSFUL_RETURN

Reimplemented from Logging.

Definition at line 558 of file controller.cpp.

returnValue Controller::setupOptions ( )

protectedvirtual

Sets-up default options.

Returns: SUCCESSFUL_RETURN

Reimplemented from Options.

Definition at line 550 of file controller.cpp.

returnValue Controller::step	(	double	currentTime,
		const DVector &	_y,
		const VariablesGrid &	_yRef = `emptyConstVariablesGrid`
	)

virtual

Performs next step of the contoller based on given inputs.

@param[in]  currentTime     Current time.
@param[in]  _y                      Most recent process output.
@param[in]  _yRef           Current piece of reference trajectory or piece of reference trajectory for next step (required for hotstarting).

\note If a non-empty reference trajectory is provided, this one is used
      instead of the possibly set-up build-in one.

Returns: SUCCESSFUL_RETURN,
RET_BLOCK_NOT_READY,
RET_CONTROLLER_STEP_FAILED,
RET_NO_CONTROLLAW_SPECIFIED

Definition at line 338 of file controller.cpp.

returnValue Controller::step	(	double	currentTime,
		uint	dim,
		const double *const	_y,
		const VariablesGrid &	_yRef = `emptyConstVariablesGrid`
	)

virtual

Performs next step of the contoller based on given inputs.

@param[in]  currentTime     Current time.
@param[in]  dim                     Dimension of process output.
@param[in]  _y                      Most recent process output.
@param[in]  _yRef           Current piece of reference trajectory or piece of reference trajectory for next step (required for hotstarting).

\note If a non-empty reference trajectory is provided, this one is used
      instead of the possibly set-up build-in one.

Returns: SUCCESSFUL_RETURN,
RET_BLOCK_NOT_READY,
RET_CONTROLLER_STEP_FAILED,
RET_NO_CONTROLLAW_SPECIFIED

Definition at line 371 of file controller.cpp.

Member Data Documentation

ControlLaw* Controller::controlLaw

protected

Control law (usually including a dynamic optimizer) to be used for computing the control/parameter signals.

Definition at line 424 of file controller.hpp.

RealClock Controller::controlLawClock

protected

Clock required to determine runtime of control law.

Definition at line 430 of file controller.hpp.

Estimator* Controller::estimator

protected

Estimator for estimating quantities required by the control law based on the process output.

Definition at line 425 of file controller.hpp.

BooleanType Controller::isEnabled

protected

Flag indicating whether controller is enabled or not.

Definition at line 428 of file controller.hpp.

ReferenceTrajectory* Controller::referenceTrajectory

protected

Reference trajectory to be used by the control law.

Definition at line 426 of file controller.hpp.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation