arx_ctrl.h

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#include "../base/bdmbase.h"
#include "ctrlbase.h"
#include "../estim/arx.h"
#include "../estim/kalman.h"

namespace bdm{

        class LQG_ARX : public Controller{
                protected:
                        shared_prt<ARX> ar;
                        LQG lq;
                        sharer_ptr<StateSpace> stsp;
                public:
                        LQG_ARX(): ar(), lq(), statemodel(new StateSpace) { }
                                                
                        void initialize() {
                                
                        }
                        void adapt(){
                                ARX.to_state_space(stsp);
                        }

                        void from_settings(const Settings &set){
                                ar=UI::build<ARX> (set, "ARX",UI::compulsory);
                                
                                UI::get(Qu, set, "Qu", UI::compulsory);
                                UI::get(Qy, set, "Qy", UI::compulsory);
                
                                if (!UI::get(y_req, set, "yreq", UI::optional))
                                        y_req = zeros(yrv._dsize());
                                if (!UI::get(u_req, set, "ureq", UI::optional))
                                        u_req = zeros(urv._dsize());
                        }
        };
        
} // namespace

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