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3<title>mixpp: bdm::LQG_ARX Class Reference</title>
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66  <div class="navpath"><b>bdm</b>::<a class="el" href="classbdm_1_1LQG__ARX.html">LQG_ARX</a>
67  </div>
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69<div class="contents">
70<h1>bdm::LQG_ARX Class Reference</h1><!-- doxytag: class="bdm::LQG_ARX" --><!-- doxytag: inherits="bdm::Controller" --><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. 
71<a href="#_details">More...</a>
72<p>
73<code>#include &lt;<a class="el" href="arx__ctrl_8h-source.html">arx_ctrl.h</a>&gt;</code>
74<p>
75
76<p>
77<a href="classbdm_1_1LQG__ARX-members.html">List of all members.</a><table border="0" cellpadding="0" cellspacing="0">
78<tr><td></td></tr>
79<tr><td colspan="2"><br><h2>Public Member Functions</h2></td></tr>
80<tr><td class="memItemLeft" nowrap align="right" valign="top">&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG__ARX.html#a8b901b37f009400fa68bfdefa473eeb">LQG_ARX</a> ()</td></tr>
81
82<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="e9131f387df9d29d9859bbcdeb7cb504"></a><!-- doxytag: member="bdm::LQG_ARX::initialize" ref="e9131f387df9d29d9859bbcdeb7cb504" args="()" -->
83void&nbsp;</td><td class="memItemRight" valign="bottom"><b>initialize</b> ()</td></tr>
84
85<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="838a63f9481b4bb8055896492a30c0af"></a><!-- doxytag: member="bdm::LQG_ARX::adapt" ref="838a63f9481b4bb8055896492a30c0af" args="()" -->
86void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG__ARX.html#838a63f9481b4bb8055896492a30c0af">adapt</a> ()</td></tr>
87
88<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">adaptation is to store arx estimates in stsp <br></td></tr>
89<tr><td class="memItemLeft" nowrap align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG__ARX.html#2c9556d56bb75fc2eb6c0c7d8e9e0145">from_settings</a> (const Settings &amp;set)</td></tr>
90
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="#2c9556d56bb75fc2eb6c0c7d8e9e0145"></a><br></td></tr>
92<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="d8bf38082502020d56dbd48806018774"></a><!-- doxytag: member="bdm::LQG_ARX::adapt" ref="d8bf38082502020d56dbd48806018774" args="(const vec &amp;data)" -->
93virtual void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1Controller.html#d8bf38082502020d56dbd48806018774">adapt</a> (const vec &amp;data)</td></tr>
94
95<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">function processing new observations and adapting control strategy accordingly <br></td></tr>
96<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="7103224088fcd72bc44eeb08ad5ce180"></a><!-- doxytag: member="bdm::LQG_ARX::ctrlaction" ref="7103224088fcd72bc44eeb08ad5ce180" args="(const vec &amp;data)" -->
97virtual vec&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1Controller.html#7103224088fcd72bc44eeb08ad5ce180">ctrlaction</a> (const vec &amp;data)</td></tr>
98
99<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">returns designed control action <br></td></tr>
100<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="a8dfccd2b84552efcdc7f595c021ff77"></a><!-- doxytag: member="bdm::LQG_ARX::from_setting" ref="a8dfccd2b84552efcdc7f595c021ff77" args="(const Setting &amp;set)" -->
101void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1Controller.html#a8dfccd2b84552efcdc7f595c021ff77">from_setting</a> (const Setting &amp;set)</td></tr>
102
103<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>
104<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="5c5b40a9e65abc1434c8a34c9752e25d"></a><!-- doxytag: member="bdm::LQG_ARX::_urv" ref="5c5b40a9e65abc1434c8a34c9752e25d" 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#5c5b40a9e65abc1434c8a34c9752e25d">_urv</a> ()</td></tr>
106
107<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">access function <br></td></tr>
108<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="258f7c6435343b088ed02a304cab99b0"></a><!-- doxytag: member="bdm::LQG_ARX::_yrv" ref="258f7c6435343b088ed02a304cab99b0" args="()" -->
109const <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#258f7c6435343b088ed02a304cab99b0">_yrv</a> ()</td></tr>
110
111<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">access function <br></td></tr>
112<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="51e1fbd42ba80789f31b5bc14068f498"></a><!-- doxytag: member="bdm::LQG_ARX::_drv" ref="51e1fbd42ba80789f31b5bc14068f498" args="()" -->
113const <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#51e1fbd42ba80789f31b5bc14068f498">_drv</a> ()</td></tr>
114
115<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">access function <br></td></tr>
116<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="af0e6941ba5919cae1bc530e2181b109"></a><!-- doxytag: member="bdm::LQG_ARX::to_string" ref="af0e6941ba5919cae1bc530e2181b109" args="()" -->
117virtual string&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1root.html#af0e6941ba5919cae1bc530e2181b109">to_string</a> ()</td></tr>
118
119<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">This method returns a basic info about the current instance. <br></td></tr>
120<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="67d954d255ede776eade7334d4895790"></a><!-- doxytag: member="bdm::LQG_ARX::to_setting" ref="67d954d255ede776eade7334d4895790" args="(Setting &amp;set) const " -->
121virtual void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1root.html#67d954d255ede776eade7334d4895790">to_setting</a> (Setting &amp;set) const </td></tr>
122
123<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">This method save all the instance properties into the Setting structure. <br></td></tr>
124<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="1c314bd6d6dacb8ba78ea5eb88fd9516"></a><!-- doxytag: member="bdm::LQG_ARX::validate" ref="1c314bd6d6dacb8ba78ea5eb88fd9516" args="()" -->
125virtual void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1root.html#1c314bd6d6dacb8ba78ea5eb88fd9516">validate</a> ()</td></tr>
126
127<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">This method TODO. <br></td></tr>
128<tr><td colspan="2"><br><h2>Protected Attributes</h2></td></tr>
129<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="e826eb0d2392dfd782d5f213df6288cc"></a><!-- doxytag: member="bdm::LQG_ARX::ar" ref="e826eb0d2392dfd782d5f213df6288cc" args="" -->
130shared_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#e826eb0d2392dfd782d5f213df6288cc">ar</a></td></tr>
131
132<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>
133<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="fb08b341bf00588e7aa6aba33db315c9"></a><!-- doxytag: member="bdm::LQG_ARX::lq" ref="fb08b341bf00588e7aa6aba33db315c9" args="" -->
134<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#fb08b341bf00588e7aa6aba33db315c9">lq</a></td></tr>
135
136<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Internal <a class="el" href="classbdm_1_1LQG.html">LQG</a> designer. <br></td></tr>
137<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="d5ddc7af692f2c1b2f04ea903ed966f4"></a><!-- doxytag: member="bdm::LQG_ARX::stsp" ref="d5ddc7af692f2c1b2f04ea903ed966f4" args="" -->
138sharer_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#d5ddc7af692f2c1b2f04ea903ed966f4">stsp</a></td></tr>
139
140<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>
141</table>
142<hr><a name="_details"></a><h2>Detailed Description</h2>
143<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. <hr><h2>Constructor &amp; Destructor Documentation</h2>
144<a class="anchor" name="a8b901b37f009400fa68bfdefa473eeb"></a><!-- doxytag: member="bdm::LQG_ARX::LQG_ARX" ref="a8b901b37f009400fa68bfdefa473eeb" args="()" -->
145<div class="memitem">
146<div class="memproto">
147      <table class="memname">
148        <tr>
149          <td class="memname">bdm::LQG_ARX::LQG_ARX           </td>
150          <td>(</td>
151          <td class="paramname">          </td>
152          <td>&nbsp;)&nbsp;</td>
153          <td><code> [inline]</code></td>
154        </tr>
155      </table>
156</div>
157<div class="memdoc">
158
159<p>
160Default constructor
161</div>
162</div><p>
163<hr><h2>Member Function Documentation</h2>
164<a class="anchor" name="2c9556d56bb75fc2eb6c0c7d8e9e0145"></a><!-- doxytag: member="bdm::LQG_ARX::from_settings" ref="2c9556d56bb75fc2eb6c0c7d8e9e0145" args="(const Settings &amp;set)" -->
165<div class="memitem">
166<div class="memproto">
167      <table class="memname">
168        <tr>
169          <td class="memname">void bdm::LQG_ARX::from_settings           </td>
170          <td>(</td>
171          <td class="paramtype">const Settings &amp;&nbsp;</td>
172          <td class="paramname"> <em>set</em>          </td>
173          <td>&nbsp;)&nbsp;</td>
174          <td><code> [inline]</code></td>
175        </tr>
176      </table>
177</div>
178<div class="memdoc">
179
180<p>
181<a class="el" href="classbdm_1_1LQG.html">LQG</a> is defined by quadratic loss function.
182<p>
183<p class="formulaDsp">
184<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_138.png">
185<p>
186 expected input <div class="fragment"><pre class="fragment">                { <span class="keyword">class</span>=<span class="stringliteral">"LQG"</span>;
187                        arx = {<span class="keyword">class</span>=<span class="stringliteral">"ARX"</span>, ...} <span class="comment">// internal arx model, see </span>
188                        Qy = (<span class="stringliteral">"matrix"</span>, ...);
189                        Qu = (<span class="stringliteral">"matrix"</span>, ...);
190                        yreq = [];               <span class="comment">// requested output</span>
191                        ureq = [];               <span class="comment">// requested input value</span>
192                }
193</pre></div> 
194<p>References <a class="el" href="arx__ctrl_8h-source.html#l00024">ar</a>, and <a class="el" href="user__info_8h-source.html#l00443">bdm::UI::get()</a>.</p>
195
196</div>
197</div><p>
198<hr>The documentation for this class was generated from the following file:<ul>
199<li><a class="el" href="arx__ctrl_8h-source.html">arx_ctrl.h</a></ul>
200</div>
201<hr size="1"><address style="text-align: right;"><small>Generated on Sat Aug 29 20:49:46 2009 for mixpp by&nbsp;
202<a href="http://www.doxygen.org/index.html">
203<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.8 </small></address>
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