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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 |
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| 68 | <a name="l00013"></a>00013 <span class="preprocessor">#include "../base/bdmbase.h"</span> |
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| 69 | <a name="l00014"></a>00014 <span class="preprocessor">#include "<a class="code" href="ctrlbase_8h.html" title="Base classes for designers of control strategy.">ctrlbase.h</a>"</span> |
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| 70 | <a name="l00015"></a>00015 <span class="preprocessor">#include "../estim/arx.h"</span> |
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| 71 | <a name="l00016"></a>00016 <span class="preprocessor">#include "../estim/kalman.h"</span> |
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| 72 | <a name="l00017"></a>00017 |
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| 73 | <a name="l00018"></a>00018 <span class="keyword">namespace </span>bdm{ |
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| 74 | <a name="l00019"></a>00019 |
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| 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>{ |
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| 76 | <a name="l00022"></a>00022 <span class="keyword">protected</span>: |
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| 77 | <a name="l00024"></a><a class="code" href="classbdm_1_1LQG__ARX.html#ae826eb0d2392dfd782d5f213df6288cc">00024</a> shared_prt<ARX> <a class="code" href="classbdm_1_1LQG__ARX.html#ae826eb0d2392dfd782d5f213df6288cc" title="Internal ARX estimator.">ar</a>; |
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| 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>; |
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| 79 | <a name="l00028"></a><a class="code" href="classbdm_1_1LQG__ARX.html#ad5ddc7af692f2c1b2f04ea903ed966f4">00028</a> sharer_ptr<StateSpace> <a class="code" href="classbdm_1_1LQG__ARX.html#ad5ddc7af692f2c1b2f04ea903ed966f4" title="Intermediate StateSpace model.">stsp</a>; |
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| 80 | <a name="l00030"></a>00030 <span class="keyword">public</span>: |
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| 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>) { } |
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| 82 | <a name="l00033"></a>00033 |
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| 83 | <a name="l00035"></a><a class="code" href="classbdm_1_1LQG__ARX.html#ae9131f387df9d29d9859bbcdeb7cb504">00035</a> <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1LQG__ARX.html#ae9131f387df9d29d9859bbcdeb7cb504" title="setup internal structures">initialize</a>() { |
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| 84 | <a name="l00036"></a>00036 |
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| 85 | <a name="l00037"></a>00037 } |
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| 86 | <a name="l00039"></a><a class="code" href="classbdm_1_1LQG__ARX.html#a838a63f9481b4bb8055896492a30c0af">00039</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>(){ |
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| 87 | <a name="l00040"></a>00040 <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>); |
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| 88 | <a name="l00041"></a>00041 } |
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| 89 | <a name="l00044"></a>00044 |
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| 90 | <a name="l00056"></a><a class="code" href="classbdm_1_1LQG__ARX.html#a2c9556d56bb75fc2eb6c0c7d8e9e0145">00056</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 &<span class="keyword">set</span>){ |
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| 91 | <a name="l00057"></a>00057 <a class="code" href="classbdm_1_1LQG__ARX.html#ae826eb0d2392dfd782d5f213df6288cc" title="Internal ARX estimator.">ar</a>=UI::build<ARX> (<span class="keyword">set</span>, <span class="stringliteral">"ARX"</span>,UI::compulsory); |
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| 92 | <a name="l00058"></a>00058 |
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| 93 | <a name="l00059"></a>00059 <a class="code" href="classbdm_1_1UI.html#acd1667e6fec99ec64dabcb3ca2ff922d">UI::get</a>(Qu, <span class="keyword">set</span>, <span class="stringliteral">"Qu"</span>, UI::compulsory); |
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| 94 | <a name="l00060"></a>00060 UI::get(Qy, <span class="keyword">set</span>, <span class="stringliteral">"Qy"</span>, UI::compulsory); |
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| 95 | <a name="l00061"></a>00061 |
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| 96 | <a name="l00062"></a>00062 <span class="keywordflow">if</span> (!UI::get(y_req, <span class="keyword">set</span>, <span class="stringliteral">"yreq"</span>, UI::optional)) |
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| 97 | <a name="l00063"></a>00063 y_req = zeros(<a class="code" href="classbdm_1_1Controller.html#a2ae938d29716585c5385df37ae861e18" title="identifier of the system output;">yrv</a>.<a class="code" href="classbdm_1_1RV.html#ade30156104f61d86c94f758861418089" title="total size of a random variable">_dsize</a>()); |
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| 98 | <a name="l00064"></a>00064 <span class="keywordflow">if</span> (!UI::get(u_req, <span class="keyword">set</span>, <span class="stringliteral">"ureq"</span>, UI::optional)) |
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| 99 | <a name="l00065"></a>00065 u_req = zeros(<a class="code" href="classbdm_1_1Controller.html#a357598cc95da1eed3d50751847e71f37" title="identifier of the system input;">urv</a>.<a class="code" href="classbdm_1_1RV.html#ade30156104f61d86c94f758861418089" title="total size of a random variable">_dsize</a>()); |
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| 100 | <a name="l00066"></a>00066 } |
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| 101 | <a name="l00067"></a>00067 }; |
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| 102 | <a name="l00068"></a>00068 |
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| 103 | <a name="l00069"></a>00069 } <span class="comment">// namespace</span> |
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| 104 | </pre></div></div> |
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| 105 | <hr size="1"/><address style="text-align: right;"><small>Generated on Thu Oct 15 00:07:48 2009 for mixpp by |
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| 107 | <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.6.1 </small></address> |
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