LinearSystem< STATES, INPUTS, OUTPUTS > Class Template Reference

#include <linear_system.h>

Description

template<int STATES, int INPUTS, int OUTPUTS>
class LinearSystem< STATES, INPUTS, OUTPUTS >

This class represents a state-space model of a linear system.

It contains the following continuous matrices: A, System matrix B, Input matrix C, Output matrix D, Feedthrough matrix

Public Types
using	MatrixA = EMat<STATES, STATES>
using	MatrixB = EMat<STATES, INPUTS>
using	MatrixC = EMat<OUTPUTS, STATES>
using	MatrixD = EMat<OUTPUTS, INPUTS>
using	VectorX = EVec<STATES>
using	VectorU = EVec<INPUTS>
using	VectorY = EVec<OUTPUTS>

Public Member Functions
	LinearSystem (const MatrixA &A, const MatrixB &B, const MatrixC &C, const MatrixD &D)
MatrixA	A ()
	Returns the continuous system matrix A.
MatrixB	B ()
	Returns the continuous input matrix B.
const std::tuple< std::tuple< MatrixA, MatrixB > > &	discAB (const double &dt)
	Returns a tuple of A and B after being discretized.
MatrixC	C ()
	Returns the output matrix C.
MatrixD	D ()
	Returns the feedthrough matrix D.
VectorX	compute_X (const VectorX &x, const VectorU &u, double dt)
VectorY	compute_Y (const VectorX &x, const VectorU &u)

Constructor & Destructor Documentation

LinearSystem()

template<int STATES, int INPUTS, int OUTPUTS>

LinearSystem< STATES, INPUTS, OUTPUTS >::LinearSystem ( const MatrixA & A, const MatrixB & B, const MatrixC & C, const MatrixD & D )

inline

Constructs a discrete linear system with the given continuous matrices.

Parameters

A	The continuous system matrix
B	The continuous input matrix
C	The output matrix
D	The feedthrough matrix

Member Function Documentation

compute_X()

template<int STATES, int INPUTS, int OUTPUTS>

VectorX LinearSystem< STATES, INPUTS, OUTPUTS >::compute_X ( const VectorX & x, const VectorU & u, double dt )

inline

Computes the new state vector given the previous state vector, an input vector, and the timestep in seconds.

Parameters

x	The current state vector.
u	The input vector.
dt	The timestep in seconds.

Returns

The new state vector.

compute_Y()

template<int STATES, int INPUTS, int OUTPUTS>

VectorY LinearSystem< STATES, INPUTS, OUTPUTS >::compute_Y ( const VectorX & x, const VectorU & u )

inline

Computes the output vector given a state and an input.

Parameters

x	The state vector.
u	The input vector.

Returns

The output vector.

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

• core/math/systems/linear_system.h