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[590]5<title>mixpp: bdm::LQG_ARX Class Reference</title>
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69  <div class="navpath"><b>bdm</b>::<a class="el" href="classbdm_1_1LQG__ARX.html">LQG_ARX</a>
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72<div class="contents">
[591]73<h1>bdm::LQG_ARX Class Reference</h1><!-- doxytag: class="bdm::LQG_ARX" --><!-- doxytag: inherits="bdm::Controller" -->
74<p><a class="el" href="classbdm_1_1Controller.html">Controller</a> using <a class="el" href="classbdm_1_1ARX.html" title="Linear Autoregressive model with Gaussian noise.">ARX</a> model for estimation and <a class="el" href="classbdm_1_1LQG.html">LQG</a> designer for control. 
75<a href="#_details">More...</a></p>
[616]76<hr/><a name="_details"></a><h2>Detailed Description</h2>
77<p><a class="el" href="classbdm_1_1Controller.html">Controller</a> using <a class="el" href="classbdm_1_1ARX.html" title="Linear Autoregressive model with Gaussian noise.">ARX</a> model for estimation and <a class="el" href="classbdm_1_1LQG.html">LQG</a> designer for control. </p>
[590]78
[591]79<p><code>#include &lt;<a class="el" href="arx__ctrl_8h_source.html">arx_ctrl.h</a>&gt;</code></p>
[590]80
[591]81<p><a href="classbdm_1_1LQG__ARX-members.html">List of all members.</a></p>
82<table border="0" cellpadding="0" cellspacing="0">
83<tr><td colspan="2"><h2>Public Member Functions</h2></td></tr>
84<tr><td class="memItemLeft" align="right" valign="top">&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG__ARX.html#aa8b901b37f009400fa68bfdefa473eeb">LQG_ARX</a> ()</td></tr>
85<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae9131f387df9d29d9859bbcdeb7cb504"></a><!-- doxytag: member="bdm::LQG_ARX::initialize" ref="ae9131f387df9d29d9859bbcdeb7cb504" args="()" -->
[590]86void&nbsp;</td><td class="memItemRight" valign="bottom"><b>initialize</b> ()</td></tr>
[591]87<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a838a63f9481b4bb8055896492a30c0af"></a><!-- doxytag: member="bdm::LQG_ARX::adapt" ref="a838a63f9481b4bb8055896492a30c0af" args="()" -->
88void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG__ARX.html#a838a63f9481b4bb8055896492a30c0af">adapt</a> ()</td></tr>
89<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">adaptation is to store arx estimates in stsp <br/></td></tr>
90<tr><td class="memItemLeft" align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG__ARX.html#a2c9556d56bb75fc2eb6c0c7d8e9e0145">from_settings</a> (const Settings &amp;set)</td></tr>
91<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight"><a class="el" href="classbdm_1_1LQG.html">LQG</a> is defined by quadratic loss function.  <a href="#a2c9556d56bb75fc2eb6c0c7d8e9e0145"></a><br/></td></tr>
92<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad8bf38082502020d56dbd48806018774"></a><!-- doxytag: member="bdm::LQG_ARX::adapt" ref="ad8bf38082502020d56dbd48806018774" args="(const vec &amp;data)" -->
93virtual void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1Controller.html#ad8bf38082502020d56dbd48806018774">adapt</a> (const vec &amp;data)</td></tr>
94<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">function processing new observations and adapting control strategy accordingly <br/></td></tr>
95<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7103224088fcd72bc44eeb08ad5ce180"></a><!-- doxytag: member="bdm::LQG_ARX::ctrlaction" ref="a7103224088fcd72bc44eeb08ad5ce180" args="(const vec &amp;data)" -->
96virtual vec&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1Controller.html#a7103224088fcd72bc44eeb08ad5ce180">ctrlaction</a> (const vec &amp;data)</td></tr>
97<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">returns designed control action <br/></td></tr>
98<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa8dfccd2b84552efcdc7f595c021ff77"></a><!-- doxytag: member="bdm::LQG_ARX::from_setting" ref="aa8dfccd2b84552efcdc7f595c021ff77" args="(const Setting &amp;set)" -->
99void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1Controller.html#aa8dfccd2b84552efcdc7f595c021ff77">from_setting</a> (const Setting &amp;set)</td></tr>
100<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">This method arrange instance properties according the data stored in the Setting structure. <br/></td></tr>
101<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5c5b40a9e65abc1434c8a34c9752e25d"></a><!-- doxytag: member="bdm::LQG_ARX::_urv" ref="a5c5b40a9e65abc1434c8a34c9752e25d" args="()" -->
102const <a class="el" href="classbdm_1_1RV.html">RV</a> &amp;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1Controller.html#a5c5b40a9e65abc1434c8a34c9752e25d">_urv</a> ()</td></tr>
103<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">access function <br/></td></tr>
104<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a258f7c6435343b088ed02a304cab99b0"></a><!-- doxytag: member="bdm::LQG_ARX::_yrv" ref="a258f7c6435343b088ed02a304cab99b0" args="()" -->
105const <a class="el" href="classbdm_1_1RV.html">RV</a> &amp;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1Controller.html#a258f7c6435343b088ed02a304cab99b0">_yrv</a> ()</td></tr>
106<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">access function <br/></td></tr>
107<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a51e1fbd42ba80789f31b5bc14068f498"></a><!-- doxytag: member="bdm::LQG_ARX::_drv" ref="a51e1fbd42ba80789f31b5bc14068f498" args="()" -->
108const <a class="el" href="classbdm_1_1RV.html">RV</a> &amp;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1Controller.html#a51e1fbd42ba80789f31b5bc14068f498">_drv</a> ()</td></tr>
109<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">access function <br/></td></tr>
110<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aaf0e6941ba5919cae1bc530e2181b109"></a><!-- doxytag: member="bdm::LQG_ARX::to_string" ref="aaf0e6941ba5919cae1bc530e2181b109" args="()" -->
111virtual string&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1root.html#aaf0e6941ba5919cae1bc530e2181b109">to_string</a> ()</td></tr>
112<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">This method returns a basic info about the current instance. <br/></td></tr>
113<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a67d954d255ede776eade7334d4895790"></a><!-- doxytag: member="bdm::LQG_ARX::to_setting" ref="a67d954d255ede776eade7334d4895790" args="(Setting &amp;set) const " -->
114virtual void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1root.html#a67d954d255ede776eade7334d4895790">to_setting</a> (Setting &amp;set) const </td></tr>
115<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">This method save all the instance properties into the Setting structure. <br/></td></tr>
116<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1c314bd6d6dacb8ba78ea5eb88fd9516"></a><!-- doxytag: member="bdm::LQG_ARX::validate" ref="a1c314bd6d6dacb8ba78ea5eb88fd9516" args="()" -->
117virtual void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1root.html#a1c314bd6d6dacb8ba78ea5eb88fd9516">validate</a> ()</td></tr>
118<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">This method TODO. <br/></td></tr>
119<tr><td colspan="2"><h2>Protected Attributes</h2></td></tr>
120<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae826eb0d2392dfd782d5f213df6288cc"></a><!-- doxytag: member="bdm::LQG_ARX::ar" ref="ae826eb0d2392dfd782d5f213df6288cc" args="" -->
121shared_prt&lt; <a class="el" href="classbdm_1_1ARX.html">ARX</a> &gt;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG__ARX.html#ae826eb0d2392dfd782d5f213df6288cc">ar</a></td></tr>
122<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Internal <a class="el" href="classbdm_1_1ARX.html" title="Linear Autoregressive model with Gaussian noise.">ARX</a> estimator. <br/></td></tr>
123<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="afb08b341bf00588e7aa6aba33db315c9"></a><!-- doxytag: member="bdm::LQG_ARX::lq" ref="afb08b341bf00588e7aa6aba33db315c9" args="" -->
124<a class="el" href="classbdm_1_1LQG.html">LQG</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG__ARX.html#afb08b341bf00588e7aa6aba33db315c9">lq</a></td></tr>
125<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Internal <a class="el" href="classbdm_1_1LQG.html">LQG</a> designer. <br/></td></tr>
126<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad5ddc7af692f2c1b2f04ea903ed966f4"></a><!-- doxytag: member="bdm::LQG_ARX::stsp" ref="ad5ddc7af692f2c1b2f04ea903ed966f4" args="" -->
127sharer_ptr&lt; <a class="el" href="classbdm_1_1StateSpace.html">StateSpace</a> &gt;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG__ARX.html#ad5ddc7af692f2c1b2f04ea903ed966f4">stsp</a></td></tr>
128<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Intermediate <a class="el" href="classbdm_1_1StateSpace.html" title="Basic elements of linear state-space model.">StateSpace</a> model. <br/></td></tr>
[590]129</table>
[591]130<hr/><h2>Constructor &amp; Destructor Documentation</h2>
131<a class="anchor" id="aa8b901b37f009400fa68bfdefa473eeb"></a><!-- doxytag: member="bdm::LQG_ARX::LQG_ARX" ref="aa8b901b37f009400fa68bfdefa473eeb" args="()" -->
[590]132<div class="memitem">
133<div class="memproto">
134      <table class="memname">
135        <tr>
[591]136          <td class="memname">bdm::LQG_ARX::LQG_ARX </td>
[590]137          <td>(</td>
[591]138          <td class="paramname"></td>
[590]139          <td>&nbsp;)&nbsp;</td>
140          <td><code> [inline]</code></td>
141        </tr>
142      </table>
143</div>
144<div class="memdoc">
[591]145<p>Default constructor </p>
[590]146
147</div>
[591]148</div>
149<hr/><h2>Member Function Documentation</h2>
150<a class="anchor" id="a2c9556d56bb75fc2eb6c0c7d8e9e0145"></a><!-- doxytag: member="bdm::LQG_ARX::from_settings" ref="a2c9556d56bb75fc2eb6c0c7d8e9e0145" args="(const Settings &amp;set)" -->
[590]151<div class="memitem">
152<div class="memproto">
153      <table class="memname">
154        <tr>
[591]155          <td class="memname">void bdm::LQG_ARX::from_settings </td>
[590]156          <td>(</td>
157          <td class="paramtype">const Settings &amp;&nbsp;</td>
[591]158          <td class="paramname"> <em>set</em></td>
[590]159          <td>&nbsp;)&nbsp;</td>
160          <td><code> [inline]</code></td>
161        </tr>
162      </table>
163</div>
164<div class="memdoc">
165
[591]166<p><a class="el" href="classbdm_1_1LQG.html">LQG</a> is defined by quadratic loss function. </p>
[590]167<p class="formulaDsp">
[608]168<img class="formulaDsp" alt="\[ L(y,u) = (y-y_{req})'Q_y (y-y_{req}) + (u-u_{req})' Q_u (u-u_{req}) \]" src="form_27.png"/>
[591]169</p>
170<p> expected input </p>
171<div class="fragment"><pre class="fragment">                { <span class="keyword">class</span>=<span class="stringliteral">&quot;LQG&quot;</span>;
172                        arx = {<span class="keyword">class</span>=<span class="stringliteral">&quot;ARX&quot;</span>, ...} <span class="comment">// internal arx model, see </span>
173                        Qy = (<span class="stringliteral">&quot;matrix&quot;</span>, ...);
174                        Qu = (<span class="stringliteral">&quot;matrix&quot;</span>, ...);
[590]175                        yreq = [];               <span class="comment">// requested output</span>
176                        ureq = [];               <span class="comment">// requested input value</span>
177                }
178</pre></div> 
[641]179<p>References <a class="el" href="arx__ctrl_8h_source.html#l00024">ar</a>, and <a class="el" href="user__info_8h_source.html#l00451">bdm::UI::get()</a>.</p>
[590]180
181</div>
182</div>
[591]183<hr/>The documentation for this class was generated from the following file:<ul>
184<li><a class="el" href="arx__ctrl_8h_source.html">arx_ctrl.h</a></li>
185</ul>
186</div>
[641]187<hr size="1"/><address style="text-align: right;"><small>Generated on Sun Sep 27 00:49:05 2009 for mixpp by&nbsp;
[590]188<a href="http://www.doxygen.org/index.html">
[591]189<img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.6.1 </small></address>
[590]190</body>
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