#include <ctrlbase.h>
Public Member Functions | |
| void | set_system_parameters (const mat &A, const mat &B, const mat &C) |
| set system parameters from given matrices | |
| void | set_control_parameters (const mat &Qy0, const mat &Qu0, const vec y_req0, int horizon0) |
| set penalization matrices and control horizon | |
| void | prepare_qr () |
| set system parameters from Kalman filter | |
| virtual void | update_state () |
| function for future use which is called at each time td; Should call prepare_qr()! | |
| void | ricatti_step () |
| redesign one step of the | |
| void | redesign () |
| Redesign control strategy. | |
| vec | apply (const vec &state, const vec &ukm) |
| virtual vec | apply (const vec &cond) |
| apply control strategy to obtain control input | |
| virtual string | to_string () |
| This method returns a basic info about the current instance. | |
| virtual void | from_setting (const Setting &set) |
| This method arrange instance properties according the data stored in the Setting structure. | |
| virtual void | to_setting (Setting &set) const |
| This method save all the instance properties into the Setting structure. | |
| virtual void | validate () |
| This method TODO. | |
Protected Attributes | |
| int | dimx |
| dimension of state | |
| int | dimu |
| dimension of inputs | |
| int | dimy |
| dimension of output | |
| mat | A |
| matrix A of the linear system | |
| mat | B |
| matrix B of the linear system | |
| mat | C |
| matrix C of the linear system | |
| vec | y_req |
| required value of the output y at time t (assumed constant) | |
| int | horizon |
| Control horizon, set to maxint for infinite horizons. | |
| mat | Qy |
| penalization matrix Qy | |
| mat | Qu |
| penalization matrix Qu | |
| int | td |
| time of the design step - from horizon->0 | |
| mat | L |
| controller parameters | |
temporary storage for ricatti | |
parameters | |
| mat | pr |
| mat | qux |
| penalization | |
| mat | qyx |
| penalization | |
| mat | s |
| internal quadratic form | |
| mat | qy |
| penalization | |
| mat | hqy |
| pre_qr part | |
| mat | pre_qr |
| pre qr matrix | |
| mat | post_qr |
| post qr matrix | |
| void bdm::LQG::prepare_qr | ( | ) |
1.5.8