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67<h1>arx_ctrl.h</h1><a href="arx__ctrl_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001
68<a name="l00013"></a>00013 <span class="preprocessor">#include &quot;../base/bdmbase.h&quot;</span>
69<a name="l00014"></a>00014 <span class="preprocessor">#include &quot;<a class="code" href="ctrlbase_8h.html" title="Base classes for designers of control strategy.">ctrlbase.h</a>&quot;</span>
70<a name="l00015"></a>00015 <span class="preprocessor">#include &quot;../estim/arx.h&quot;</span>
71<a name="l00016"></a>00016 <span class="preprocessor">#include &quot;../estim/kalman.h&quot;</span>
72<a name="l00017"></a>00017
73<a name="l00018"></a>00018 <span class="keyword">namespace </span>bdm{
74<a name="l00019"></a>00019
75<a name="l00021"></a><a class="code" href="classbdm_1_1LQG__ARX.html">00021</a>         <span class="keyword">class </span><a class="code" href="classbdm_1_1LQG__ARX.html" title="Controller using ARX model for estimation and LQG designer for control.">LQG_ARX</a> : <span class="keyword">public</span> <a class="code" href="classbdm_1_1Controller.html">Controller</a>{
76<a name="l00022"></a>00022                 <span class="keyword">protected</span>:
77<a name="l00024"></a><a class="code" href="classbdm_1_1LQG__ARX.html#ae826eb0d2392dfd782d5f213df6288cc">00024</a>                         shared_prt&lt;ARX&gt; <a class="code" href="classbdm_1_1LQG__ARX.html#ae826eb0d2392dfd782d5f213df6288cc" title="Internal ARX estimator.">ar</a>;
78<a name="l00026"></a><a class="code" href="classbdm_1_1LQG__ARX.html#afb08b341bf00588e7aa6aba33db315c9">00026</a>                         <a class="code" href="classbdm_1_1LQG.html">LQG</a> <a class="code" href="classbdm_1_1LQG__ARX.html#afb08b341bf00588e7aa6aba33db315c9" title="Internal LQG designer.">lq</a>;
79<a name="l00028"></a><a class="code" href="classbdm_1_1LQG__ARX.html#ad5ddc7af692f2c1b2f04ea903ed966f4">00028</a>                         sharer_ptr&lt;StateSpace&gt; <a class="code" href="classbdm_1_1LQG__ARX.html#ad5ddc7af692f2c1b2f04ea903ed966f4" title="Intermediate StateSpace model.">stsp</a>;
80<a name="l00030"></a>00030                 <span class="keyword">public</span>:
81<a name="l00032"></a><a class="code" href="classbdm_1_1LQG__ARX.html#aa8b901b37f009400fa68bfdefa473eeb">00032</a>                         <a class="code" href="classbdm_1_1LQG__ARX.html#aa8b901b37f009400fa68bfdefa473eeb">LQG_ARX</a>(): <a class="code" href="classbdm_1_1LQG__ARX.html#ae826eb0d2392dfd782d5f213df6288cc" title="Internal ARX estimator.">ar</a>(), <a class="code" href="classbdm_1_1LQG__ARX.html#afb08b341bf00588e7aa6aba33db315c9" title="Internal LQG designer.">lq</a>(), statemodel(new <a class="code" href="classbdm_1_1StateSpace.html" title="Basic elements of linear state-space model.">StateSpace</a>) { }
82<a name="l00033"></a>00033                                                 
83<a name="l00034"></a>00034                         <span class="keywordtype">void</span> initialize() {
84<a name="l00035"></a>00035                                 
85<a name="l00036"></a>00036                         }
86<a name="l00038"></a><a class="code" href="classbdm_1_1LQG__ARX.html#a838a63f9481b4bb8055896492a30c0af">00038</a>                         <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1LQG__ARX.html#a838a63f9481b4bb8055896492a30c0af" title="adaptation is to store arx estimates in stsp">adapt</a>(){
87<a name="l00039"></a>00039                                 <a class="code" href="classbdm_1_1ARX.html" title="Linear Autoregressive model with Gaussian noise.">ARX</a>.to_state_space(<a class="code" href="classbdm_1_1LQG__ARX.html#ad5ddc7af692f2c1b2f04ea903ed966f4" title="Intermediate StateSpace model.">stsp</a>);
88<a name="l00040"></a>00040                         }
89<a name="l00043"></a>00043
90<a name="l00055"></a><a class="code" href="classbdm_1_1LQG__ARX.html#a2c9556d56bb75fc2eb6c0c7d8e9e0145">00055</a>                         <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1LQG__ARX.html#a2c9556d56bb75fc2eb6c0c7d8e9e0145" title="LQG is defined by quadratic loss function.">from_settings</a>(<span class="keyword">const</span> Settings &amp;<span class="keyword">set</span>){
91<a name="l00056"></a>00056                                 <a class="code" href="classbdm_1_1LQG__ARX.html#ae826eb0d2392dfd782d5f213df6288cc" title="Internal ARX estimator.">ar</a>=UI::build&lt;ARX&gt; (<span class="keyword">set</span>, <span class="stringliteral">&quot;ARX&quot;</span>,UI::compulsory);
92<a name="l00057"></a>00057                                 
93<a name="l00058"></a>00058                                 <a class="code" href="classbdm_1_1UI.html#acd1667e6fec99ec64dabcb3ca2ff922d">UI::get</a>(Qu, <span class="keyword">set</span>, <span class="stringliteral">&quot;Qu&quot;</span>, UI::compulsory);
94<a name="l00059"></a>00059                                 UI::get(Qy, <span class="keyword">set</span>, <span class="stringliteral">&quot;Qy&quot;</span>, UI::compulsory);
95<a name="l00060"></a>00060                 
96<a name="l00061"></a>00061                                 <span class="keywordflow">if</span> (!UI::get(y_req, <span class="keyword">set</span>, <span class="stringliteral">&quot;yreq&quot;</span>, UI::optional))
97<a name="l00062"></a>00062                                         y_req = zeros(yrv._dsize());
98<a name="l00063"></a>00063                                 <span class="keywordflow">if</span> (!UI::get(u_req, <span class="keyword">set</span>, <span class="stringliteral">&quot;ureq&quot;</span>, UI::optional))
99<a name="l00064"></a>00064                                         u_req = zeros(urv._dsize());
100<a name="l00065"></a>00065                         }
101<a name="l00066"></a>00066         };
102<a name="l00067"></a>00067         
103<a name="l00068"></a>00068 } <span class="comment">// namespace</span>
104</pre></div></div>
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