dueca::LinearSystem Class Reference

This class creates a linear time-invariant (control) system. More...

Inheritance diagram for dueca::LinearSystem:

Public Member Functions
	LinearSystem ()
	Default constructor. More...
	LinearSystem (const Vector &num, const Vector &den, double dt)
	This constructs a SISO system, on the basis of continuous time transfer function. More...
	LinearSystem (const LinearSystem &)
	Copy constructor. More...
	LinearSystem (const Matrix &A, const Matrix &B, const Matrix &C, const Matrix &D, double dt)
	This constructs a system, on the basis of a continuous time state space system. More...
	LinearSystem (const Matrix &phi, const Matrix &psi, const Matrix &C, const Matrix &D)
	This constructs a system, on the basis of a discrete time state space system. More...
virtual	~LinearSystem ()
	Destructor. More...
LinearSystem &	operator= (const LinearSystem &o)
	Assignment of one system to another. More...
virtual void	acceptState (const Vector &x_new)
	Accept a new state. More...
virtual const Vector &	step (const Vector &u)
	Calculate a single time step, return the output vector. More...
virtual const Vector &	step (double u)
	Calculate a single time step, return the output vector. More...
virtual void	reset ()
	Reset the state to 0;.
void	createFromNumDen (const Vector &num, const Vector &den, double dt)
	Create a system from numerator, denominator input. More...
void	createFromABCD (const Matrix &A, const Matrix &B, const Matrix &C, const Matrix &D, double dt)
	Create from matrices. More...
void	createFromPhiPsiCD (const Matrix &phi, const Matrix &psi, const Matrix &C, const Matrix &D)
	Create from matrices, discrete.
const Vector &	getY () const
	Obtain the output vector. More...
const Vector &	getX () const
	Obtain the state vector. More...
Vector &	getX ()
	Obtain the state vector for modification. More...
const Matrix &	getPhi () const
	Additional output, transition. More...
const Matrix &	getPsi () const
	Input matrix discrete system. More...
const Matrix &	getC () const
	Output matrix. More...
const Matrix &	getD () const
	Feedthrough matrix. More...

Protected Attributes
unsigned	n
	Order of the system.
unsigned	m
	Number of outputs.
Matrix	Phi
	Transition matrix. More...
Matrix	Psi
	Input matrix. More...
Matrix	C
	Output matrix. More...
Matrix	D
	Feedthrough matrix. More...
Vector	x
	The state vector. More...
Vector	y
	The output vector. More...

Detailed Description

This class creates a linear time-invariant (control) system.

The system is transformed to state-space form if necessary, and discretized with the parameter dt.

Constructor & Destructor Documentation

LinearSystem() [1/5]

dueca::LinearSystem::LinearSystem

(

)

Default constructor.

LinearSystem() [2/5]

dueca::LinearSystem::LinearSystem	(	const Vector &	num,
		const Vector &	den,
		double	dt
	)

This constructs a SISO system, on the basis of continuous time transfer function.

Parameters

num	Numerator of the transfer function. Elements are arranged as num[0]*s^0 + num[1]*s^1 etc.
den	Denominator.
dt	Size, in seconds, of the discrete time step.

LinearSystem() [3/5]

dueca::LinearSystem::LinearSystem

(

const LinearSystem &

)

Copy constructor.

LinearSystem() [4/5]

dueca::LinearSystem::LinearSystem	(	const Matrix &	A,
		const Matrix &	B,
		const Matrix &	C,
		const Matrix &	D,
		double	dt
	)

This constructs a system, on the basis of a continuous time state space system.

Parameters

A	A matrix
B	B matrix
C	C matrix
D	D matrix
dt	Size, in seconds, of the discrete time step.

LinearSystem() [5/5]

dueca::LinearSystem::LinearSystem	(	const Matrix &	phi,
		const Matrix &	psi,
		const Matrix &	C,
		const Matrix &	D
	)

This constructs a system, on the basis of a discrete time state space system.

Parameters

phi	phi matrix
psi	psi matrix
C	C matrix
D	D matrix

~LinearSystem()

virtual dueca::LinearSystem::~LinearSystem ( )

virtual

Destructor.

Member Function Documentation

operator=()

LinearSystem& dueca::LinearSystem::operator=

(

const LinearSystem &

o

)

Assignment of one system to another.

acceptState()

virtual void dueca::LinearSystem::acceptState ( const Vector &  x_new )

virtual

Accept a new state.

Parameters

x_new

Vector with the new state.

Reimplemented in dueca::LimitedLinearSystem, and dueca::Integrator.

step() [1/2]

virtual const Vector& dueca::LinearSystem::step ( const Vector &  u )

virtual

Calculate a single time step, return the output vector.

Parameters

u	Input vector.

Reimplemented in dueca::LimitedLinearSystem, and dueca::Integrator.

step() [2/2]

virtual const Vector& dueca::LinearSystem::step ( double  u )

virtual

Calculate a single time step, return the output vector.

Parameters

u	Input variable. Only valid for SI systems.

Reimplemented in dueca::LimitedLinearSystem, and dueca::Integrator.

createFromNumDen()

void dueca::LinearSystem::createFromNumDen	(	const Vector &	num,
		const Vector &	den,
		double	dt
	)

Create a system from numerator, denominator input.

createFromABCD()

void dueca::LinearSystem::createFromABCD	(	const Matrix &	A,
		const Matrix &	B,
		const Matrix &	C,
		const Matrix &	D,
		double	dt
	)

Create from matrices.

getY()

const Vector& dueca::LinearSystem::getY ( ) const

inline

Obtain the output vector.

getX() [1/2]

const Vector& dueca::LinearSystem::getX ( ) const

inline

Obtain the state vector.

getX() [2/2]

Vector& dueca::LinearSystem::getX ( )

inline

Obtain the state vector for modification.

getPhi()

const Matrix& dueca::LinearSystem::getPhi ( ) const

inline

Additional output, transition.

getPsi()

const Matrix& dueca::LinearSystem::getPsi ( ) const

inline

Input matrix discrete system.

getC()

const Matrix& dueca::LinearSystem::getC ( ) const

inline

Output matrix.

getD()

const Matrix& dueca::LinearSystem::getD ( ) const

inline

Feedthrough matrix.

Member Data Documentation

Phi

Matrix dueca::LinearSystem::Phi

protected

Transition matrix.

Psi

Matrix dueca::LinearSystem::Psi

protected

Input matrix.

C

Matrix dueca::LinearSystem::C

protected

Output matrix.

D

Matrix dueca::LinearSystem::D

protected

Feedthrough matrix.

x

Vector dueca::LinearSystem::x

protected

The state vector.

y

Vector dueca::LinearSystem::y

protected

The output vector.

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

• /usr/src/packages/BUILD/extra/LinearSystem.hxx