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

#include <control_law.hpp>

Inheritance diagram for ControlLaw:

[legend]

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 ()

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 Attributes
DVector	p

DVector	u

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

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

virtual returnValue	setupOptions ()

Protected Member Functions inherited from Logging
virtual returnValue	setupLogging ()

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.

@param[in] _samplingTime    Sampling time.

Definition at line 50 of file control_law.cpp.

ControlLaw::ControlLaw ( const ControlLaw & rhs )

Copy constructor (deep copy).

@param[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).

\return 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.

@param[in]  currentTime     Current time.
@param[in]  _x                      Most recent value for differential states.
@param[in]  _p                      Most recent value for parameters.
@param[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

Reimplemented in RealTimeAlgorithm.

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.

@param[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.

@param[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 RealTimeAlgorithm, PIDcontroller, FeedforwardLaw, and LinearStateFeedback.

returnValue ControlLaw::initializeAlgebraicStates ( const VariablesGrid & _xa_init )

virtual

Initializes algebraic states of the control law.

@param[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.

@param[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.

@param[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.

@param[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).

@param[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.

@param[in]  nextTime        Time at next step.
@param[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.

\return 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.

@param[in]  currentTime     Current time.
@param[in]  _x                      Most recent value for differential states.
@param[in]  _p                      Most recent value for parameters.
@param[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, RealTimeAlgorithm, 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.

@param[in]  _x                      Most recent value for differential states.
@param[in]  _p                      Most recent value for parameters.
@param[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

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation