Implements a linear state feedback law to be used within a Controller. More...
#include <linear_state_feedback.hpp>
Protected Attributes | |
DMatrix | K |
Protected Attributes inherited from ControlLaw | |
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 |
Protected Attributes inherited from ClippingFunctionality | |
DVector | lowerLimitControls |
DVector | lowerLimitParameters |
DVector | upperLimitControls |
DVector | upperLimitParameters |
Implements a linear state feedback law to be used within a Controller.
The class LinearStateFeedback implements a linear state feedback law to be used within a Controller.
Definition at line 57 of file linear_state_feedback.hpp.
BEGIN_NAMESPACE_ACADO LinearStateFeedback::LinearStateFeedback | ( | ) |
Default constructor.
Definition at line 46 of file linear_state_feedback.cpp.
LinearStateFeedback::LinearStateFeedback | ( | const DMatrix & | _K, |
double | _samplingTime = DEFAULT_SAMPLING_TIME |
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Constructor which takes the gain matrix of the linear feedback law together with the sampling time.
[in] | _K | Linear feedback gain matrix. |
[in] | _samplingTime | Sampling time. |
Definition at line 52 of file linear_state_feedback.cpp.
LinearStateFeedback::LinearStateFeedback | ( | const LinearStateFeedback & | rhs | ) |
Copy constructor (deep copy).
@param[in] rhs Right-hand side object.
Definition at line 61 of file linear_state_feedback.cpp.
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Destructor.
Definition at line 67 of file linear_state_feedback.cpp.
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Clone constructor (deep copy).
\return Pointer to deep copy of base class type
Implements ControlLaw.
Definition at line 86 of file linear_state_feedback.cpp.
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Returns number of parameters.
Reimplemented from ControlLaw.
Definition at line 165 of file linear_state_feedback.cpp.
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Returns number of controls.
Reimplemented from ControlLaw.
Definition at line 159 of file linear_state_feedback.cpp.
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Returns number of (estimated) disturbances.
Reimplemented from ControlLaw.
Definition at line 171 of file linear_state_feedback.cpp.
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Returns number of (estimated) differential states.
Reimplemented from ControlLaw.
Definition at line 147 of file linear_state_feedback.cpp.
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Returns number of (estimated) algebraic states.
Reimplemented from ControlLaw.
Definition at line 153 of file linear_state_feedback.cpp.
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Returns number of process outputs.
Reimplemented from ControlLaw.
Definition at line 177 of file linear_state_feedback.cpp.
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Initializes the feedback law with given start values and performs a number of consistency checks.
[in] | _startTime | Start time. |
[in] | _x | Initial value for differential states. |
[in] | _p | Initial value for parameters. |
[in] | _yRef | Initial value for reference trajectory. |
Implements ControlLaw.
Definition at line 92 of file linear_state_feedback.cpp.
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Returns whether the control law is based on dynamic optimization or a static one.
Implements ControlLaw.
Definition at line 183 of file linear_state_feedback.cpp.
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Returns whether the control law is a static one or based on dynamic optimization.
Implements ControlLaw.
Definition at line 189 of file linear_state_feedback.cpp.
LinearStateFeedback & LinearStateFeedback::operator= | ( | const LinearStateFeedback & | rhs | ) |
Assignment operator (deep copy).
@param[in] rhs Right-hand side object.
Definition at line 72 of file linear_state_feedback.cpp.
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Performs next step of the feedback 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.
Implements ControlLaw.
Definition at line 103 of file linear_state_feedback.cpp.
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Linear state feedback gain matrix.
Definition at line 204 of file linear_state_feedback.hpp.