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

#include <controller.hpp>

Inheritance diagram for Controller:

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 ()
Protected Member Functions
virtual returnValue	getCurrentReference (double tStart, VariablesGrid &_yRef) const
virtual returnValue	setupLogging ()
virtual returnValue	setupOptions ()
Protected Attributes
ControlLaw *	controlLaw
RealClock	controlLawClock
Estimator *	estimator
BooleanType	isEnabled
ReferenceTrajectory *	referenceTrajectory

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).

Parameters:

[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.

Parameters:

[in]	currentTime	Current time.
[in]	_y	Most recent process output.
[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 `[protected, virtual]`

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

Parameters:

[in]	tStart	Start time of reference piece.
[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.

Returns:: Number of parameter signals

uint Controller::getNU ( ) const [inline]

Returns number of control signals computed by the controller.

Returns:: Number of control signals

uint Controller::getNY ( ) const [inline]

Returns number of process outputs expected by the controller.

Returns:: Number of process outputs

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

Returns computed parameter signals.

Parameters:

[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.

Parameters:

[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.

Parameters:

[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.

Parameters:

[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).

Parameters:

[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.

Parameters:

[in]	nextTime	Time at next step.
[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.

Parameters:

[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.

Parameters:

[in] _referenceTrajectory New reference trajectory.

Returns:: SUCCESSFUL_RETURN

Definition at line 227 of file controller.cpp.

returnValue Controller::setupLogging ( ) [protected, virtual]

Sets-up default logging information.

Returns:: SUCCESSFUL_RETURN

Reimplemented from Logging.

Definition at line 558 of file controller.cpp.

returnValue Controller::setupOptions ( ) [protected, virtual]

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.

Parameters:

[in]	currentTime	Current time.
[in]	_y	Most recent process output.
[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.

Parameters:

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