55 f <<
dot(x) == -2.0*x + u;
56 f2 <<
dot(x) == -2.0*x + u + 0.1*w;
76 const double t_end = 7.0;
78 OCP ocp ( t_start, t_end, 14 );
100 exit( EXIT_FAILURE );
104 double samplingTime = 0.5;
150 double simulationStart = 0.0;
151 double simulationEnd = 15.0;
156 exit( EXIT_FAILURE );
158 exit( EXIT_FAILURE );
170 window.
addSubplot( sampledProcessOutput(0),
"DIFFERENTIAL STATE: x" );
171 window.
addSubplot( feedbackControl(0),
"CONTROL: u" );
Calculates the control inputs of the Process based on the Process outputs.
Allows to setup and evaluate a general function based on SymbolicExpressions.
Allows to define a static periodic reference trajectory that the ControlLaw aims to track...
Allows to setup and evaluate output functions based on SymbolicExpressions.
virtual returnValue plot(PlotFrequency _frequency=PLOT_IN_ANY_CASE)
Stores a DifferentialEquation together with an OutputFcn.
#define USING_NAMESPACE_ACADO
Provides a time grid consisting of vector-valued optimization variables at each grid point...
returnValue getFeedbackControl(Curve &_feedbackControl) const
User-interface to formulate and solve model predictive control problems.
returnValue subjectTo(const DifferentialEquation &differentialEquation_)
returnValue addSubplot(PlotWindowSubplot &_subplot)
returnValue getSampledProcessOutput(VariablesGrid &_sampledProcessOutput)
returnValue set(OptionsName name, int value)
returnValue minimizeLSQ(const DMatrix &S, const Function &h, const DVector &r)
returnValue init(const DVector &x0_, const DVector &p_=emptyConstVector)
Data class for defining optimal control problems.
Expression dot(const Expression &arg)
returnValue read(std::istream &stream)
returnValue setProcessDisturbance(const Curve &_processDisturbance)
void setAll(const T &_value)
Allows to run closed-loop simulations of dynamic systems.
Simulates the process to be controlled based on a dynamic model.
Provides an interface to Gnuplot for plotting algorithmic outputs.
Allows to setup and evaluate differential equations (ODEs and DAEs) based on SymbolicExpressions.