corbo::Controllability Class Reference

Methods for checking controllability of dynamic systems. More...

#include <controllability.h>

Static Public Member Functions
static bool	checkLinearTimeInvariantSystem (const Eigen::Ref< const Eigen::MatrixXd > &A, const Eigen::Ref< const Eigen::MatrixXd > &B, int *rank=nullptr)
	Check controllability of linear time invariant system. More...

Detailed Description

Methods for checking controllability of dynamic systems.

https://en.wikipedia.org/wiki/Controllability http://www.me.umn.edu/courses/me8281/notes/Chapter%203%20Controllability%20Observability.pdf

See also

Observability

Todo:

add stabilizability checks (https://de.mathworks.com/help/control/ref/stabsep.html)

Author

Christoph Rösmann (chris.nosp@m.toph.nosp@m..roes.nosp@m.mann.nosp@m.@tu-d.nosp@m.ortm.nosp@m.und.d.nosp@m.e)

Definition at line 46 of file controllability.h.

Member Function Documentation

checkLinearTimeInvariantSystem()

bool corbo::Controllability::checkLinearTimeInvariantSystem ( const Eigen::Ref< const Eigen::MatrixXd > &  A, const Eigen::Ref< const Eigen::MatrixXd > &  B, int *  rank = nullptr  )

static

Check controllability of linear time invariant system.

Parameters

[in]	A	[n x n] matrix
[in]	B	[n x m] matrix
[out]	rank	Retreive rank of the observability matrix [optional]

Returns

true if system is controllable, false otherwise

Definition at line 36 of file controllability.cpp.

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

• controllability.h
• controllability.cpp