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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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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>
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>
78
79<p><code>#include &lt;<a class="el" href="arx__ctrl_8h_source.html">arx_ctrl.h</a>&gt;</code></p>
80
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="()" -->
86void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG__ARX.html#ae9131f387df9d29d9859bbcdeb7cb504">initialize</a> ()</td></tr>
87<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">setup internal structures <br/></td></tr>
88<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a838a63f9481b4bb8055896492a30c0af"></a><!-- doxytag: member="bdm::LQG_ARX::adapt" ref="a838a63f9481b4bb8055896492a30c0af" args="()" -->
89void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1LQG__ARX.html#a838a63f9481b4bb8055896492a30c0af">adapt</a> ()</td></tr>
90<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">adaptation is to store arx estimates in stsp <br/></td></tr>
91<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>
92<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>
93<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)" -->
94virtual 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>
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" align="right" valign="top"><a class="anchor" id="a7103224088fcd72bc44eeb08ad5ce180"></a><!-- doxytag: member="bdm::LQG_ARX::ctrlaction" ref="a7103224088fcd72bc44eeb08ad5ce180" args="(const vec &amp;data)" -->
97virtual 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>
98<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">returns designed control action <br/></td></tr>
99<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)" -->
100void&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>
101<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>
102<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5c5b40a9e65abc1434c8a34c9752e25d"></a><!-- doxytag: member="bdm::LQG_ARX::_urv" ref="a5c5b40a9e65abc1434c8a34c9752e25d" args="()" -->
103const <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>
104<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">access function <br/></td></tr>
105<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a258f7c6435343b088ed02a304cab99b0"></a><!-- doxytag: member="bdm::LQG_ARX::_yrv" ref="a258f7c6435343b088ed02a304cab99b0" args="()" -->
106const <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>
107<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">access function <br/></td></tr>
108<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a51e1fbd42ba80789f31b5bc14068f498"></a><!-- doxytag: member="bdm::LQG_ARX::_drv" ref="a51e1fbd42ba80789f31b5bc14068f498" 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#a51e1fbd42ba80789f31b5bc14068f498">_drv</a> ()</td></tr>
110<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">access function <br/></td></tr>
111<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2a9541449b90cb80203a17af66cf64b7"></a><!-- doxytag: member="bdm::LQG_ARX::log_add" ref="a2a9541449b90cb80203a17af66cf64b7" args="(logger &amp;L, const string &amp;name=&quot;&quot;)" -->
112virtual void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1Controller.html#a2a9541449b90cb80203a17af66cf64b7">log_add</a> (<a class="el" href="classbdm_1_1logger.html">logger</a> &amp;L, const string &amp;name=&quot;&quot;)</td></tr>
113<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">register this controller with given datasource under name "name" <br/></td></tr>
114<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2b05de6453a4ca665c662e998c53f31c"></a><!-- doxytag: member="bdm::LQG_ARX::logit" ref="a2b05de6453a4ca665c662e998c53f31c" args="(logger &amp;L)" -->
115virtual void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1Controller.html#a2b05de6453a4ca665c662e998c53f31c">logit</a> (<a class="el" href="classbdm_1_1logger.html">logger</a> &amp;L)</td></tr>
116<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">write requested values into the <a class="el" href="classbdm_1_1logger.html" title="Class for storing results (and semi-results) of an experiment.">logger</a> <br/></td></tr>
117<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aaf0e6941ba5919cae1bc530e2181b109"></a><!-- doxytag: member="bdm::LQG_ARX::to_string" ref="aaf0e6941ba5919cae1bc530e2181b109" args="()" -->
118virtual string&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1root.html#aaf0e6941ba5919cae1bc530e2181b109">to_string</a> ()</td></tr>
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" align="right" valign="top"><a class="anchor" id="a67d954d255ede776eade7334d4895790"></a><!-- doxytag: member="bdm::LQG_ARX::to_setting" ref="a67d954d255ede776eade7334d4895790" args="(Setting &amp;set) const " -->
121virtual 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>
122<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">This method save all the instance properties into the Setting structure. <br/></td></tr>
123<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1c314bd6d6dacb8ba78ea5eb88fd9516"></a><!-- doxytag: member="bdm::LQG_ARX::validate" ref="a1c314bd6d6dacb8ba78ea5eb88fd9516" args="()" -->
124virtual void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1root.html#a1c314bd6d6dacb8ba78ea5eb88fd9516">validate</a> ()</td></tr>
125<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">This method TODO. <br/></td></tr>
126<tr><td colspan="2"><h2>Protected Attributes</h2></td></tr>
127<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae826eb0d2392dfd782d5f213df6288cc"></a><!-- doxytag: member="bdm::LQG_ARX::ar" ref="ae826eb0d2392dfd782d5f213df6288cc" args="" -->
128shared_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>
129<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>
130<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="afb08b341bf00588e7aa6aba33db315c9"></a><!-- doxytag: member="bdm::LQG_ARX::lq" ref="afb08b341bf00588e7aa6aba33db315c9" args="" -->
131<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>
132<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Internal <a class="el" href="classbdm_1_1LQG.html">LQG</a> designer. <br/></td></tr>
133<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad5ddc7af692f2c1b2f04ea903ed966f4"></a><!-- doxytag: member="bdm::LQG_ARX::stsp" ref="ad5ddc7af692f2c1b2f04ea903ed966f4" args="" -->
134sharer_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>
135<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>
136<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2ae938d29716585c5385df37ae861e18"></a><!-- doxytag: member="bdm::LQG_ARX::yrv" ref="a2ae938d29716585c5385df37ae861e18" args="" -->
137<a class="el" href="classbdm_1_1RV.html">RV</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1Controller.html#a2ae938d29716585c5385df37ae861e18">yrv</a></td></tr>
138<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">identifier of the system output; <br/></td></tr>
139<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a357598cc95da1eed3d50751847e71f37"></a><!-- doxytag: member="bdm::LQG_ARX::urv" ref="a357598cc95da1eed3d50751847e71f37" args="" -->
140<a class="el" href="classbdm_1_1RV.html">RV</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1Controller.html#a357598cc95da1eed3d50751847e71f37">urv</a></td></tr>
141<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">identifier of the system input; <br/></td></tr>
142<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a10a2a88a4c275ead6aa2887a3b826b19"></a><!-- doxytag: member="bdm::LQG_ARX::drv" ref="a10a2a88a4c275ead6aa2887a3b826b19" args="" -->
143<a class="el" href="classbdm_1_1RV.html">RV</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1Controller.html#a10a2a88a4c275ead6aa2887a3b826b19">drv</a></td></tr>
144<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">description of data needed for <code>ctrlaction</code> , required for automatic connection to <a class="el" href="classbdm_1_1DS.html" title="Abstract class for discrete-time sources of data.">DS</a> <br/></td></tr>
145<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a8574445175a07f536fd3db007e1eac41"></a><!-- doxytag: member="bdm::LQG_ARX::LIDs" ref="a8574445175a07f536fd3db007e1eac41" args="" -->
146ivec&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1Controller.html#a8574445175a07f536fd3db007e1eac41">LIDs</a></td></tr>
147<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">vector of <a class="el" href="classbdm_1_1logger.html" title="Class for storing results (and semi-results) of an experiment.">logger</a> IDs <br/></td></tr>
148</table>
149<hr/><h2>Constructor &amp; Destructor Documentation</h2>
150<a class="anchor" id="aa8b901b37f009400fa68bfdefa473eeb"></a><!-- doxytag: member="bdm::LQG_ARX::LQG_ARX" ref="aa8b901b37f009400fa68bfdefa473eeb" args="()" -->
151<div class="memitem">
152<div class="memproto">
153      <table class="memname">
154        <tr>
155          <td class="memname">bdm::LQG_ARX::LQG_ARX </td>
156          <td>(</td>
157          <td class="paramname"></td>
158          <td>&nbsp;)&nbsp;</td>
159          <td><code> [inline]</code></td>
160        </tr>
161      </table>
162</div>
163<div class="memdoc">
164<p>Default constructor </p>
165
166</div>
167</div>
168<hr/><h2>Member Function Documentation</h2>
169<a class="anchor" id="a2c9556d56bb75fc2eb6c0c7d8e9e0145"></a><!-- doxytag: member="bdm::LQG_ARX::from_settings" ref="a2c9556d56bb75fc2eb6c0c7d8e9e0145" args="(const Settings &amp;set)" -->
170<div class="memitem">
171<div class="memproto">
172      <table class="memname">
173        <tr>
174          <td class="memname">void bdm::LQG_ARX::from_settings </td>
175          <td>(</td>
176          <td class="paramtype">const Settings &amp;&nbsp;</td>
177          <td class="paramname"> <em>set</em></td>
178          <td>&nbsp;)&nbsp;</td>
179          <td><code> [inline]</code></td>
180        </tr>
181      </table>
182</div>
183<div class="memdoc">
184
185<p><a class="el" href="classbdm_1_1LQG.html">LQG</a> is defined by quadratic loss function. </p>
186<p class="formulaDsp">
187<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"/>
188</p>
189<p> expected input </p>
190<div class="fragment"><pre class="fragment">                { <span class="keyword">class</span>=<span class="stringliteral">&quot;LQG&quot;</span>;
191                        arx = {<span class="keyword">class</span>=<span class="stringliteral">&quot;ARX&quot;</span>, ...} <span class="comment">// internal arx model, see </span>
192                        Qy = (<span class="stringliteral">&quot;matrix&quot;</span>, ...);
193                        Qu = (<span class="stringliteral">&quot;matrix&quot;</span>, ...);
194                        yreq = [];               <span class="comment">// requested output</span>
195                        ureq = [];               <span class="comment">// requested input value</span>
196                }
197</pre></div> 
198<p>References <a class="el" href="bdmbase_8h_source.html#l00154">bdm::RV::_dsize()</a>, <a class="el" href="arx__ctrl_8h_source.html#l00024">ar</a>, <a class="el" href="user__info_8h_source.html#l00451">bdm::UI::get()</a>, <a class="el" href="ctrlbase_8h_source.html#l00126">bdm::Controller::urv</a>, and <a class="el" href="ctrlbase_8h_source.html#l00124">bdm::Controller::yrv</a>.</p>
199
200</div>
201</div>
202<hr/>The documentation for this class was generated from the following file:<ul>
203<li><a class="el" href="arx__ctrl_8h_source.html">arx_ctrl.h</a></li>
204</ul>
205</div>
206<hr size="1"/><address style="text-align: right;"><small>Generated on Thu Oct 15 00:07:49 2009 for mixpp by&nbsp;
207<a href="http://www.doxygen.org/index.html">
208<img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.6.1 </small></address>
209</body>
210</html>
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