Changeset 586 for library/bdm/design/ctrlbase.h

Timestamp:

08/27/09 15:39:35 (15 years ago)

Author:

smidl

Message:

redesign of ctrl LQ control for arx

Files:

• library/bdm/design/ctrlbase.h (modified) (5 diffs)

library/bdm/design/ctrlbase.h

@@ -12 +12 @@
 
 #include "../base/bdmbase.h"
+#include "../estim/kalman.h"
 
 namespace bdm{
 
-//! Base class of designers of control strategy
-class Designer : public root {
+//! Low-level class for design of control strategy
+class Designer  {
+        
         public:
                 //! Redesign control strategy 
@@ -34 +36 @@
 class LQG : public Designer {
         protected:
-                //! dimension of state
-                int dimx;
-                //! dimension of inputs
-                int dimu;
-                //! dimension of output
-                int dimy;
-
-                //! matrix A of the linear system
-                mat A;
-                //! matrix B of the linear system
-                mat B;
-                //! matrix C of the linear system
-                mat C;
+                //! StateSpace model from which we read data
+                shared_ptr<StateSpace<fsqmat> > S;
                 //! required value of the output y at time t (assumed constant)
                 vec y_req;
+                //! required value of the output y at time t (assumed constant)
+                vec u_req;
                 
                 //! Control horizon, set to maxint for infinite horizons
@@ -61 +54 @@
                 mat L;
                 
-                //!@{ \name temporary storage for ricatti
+                //!@{ \name temporary storage for ricatti - use initialize
+                //! convenience parameters
+                int dimx;
+                //! convenience parameters
+                int dimy;
+                //! convenience parameters
+                int dimu;
+                
                 //!  parameters
                 mat pr;
@@ -82 +82 @@
         public:
                 //! set system parameters from given matrices
-                void set_system_parameters(const mat &A, const mat &B, const mat &C);
+                void set_system(shared_ptr<StateSpace<fsqmat> > S0);
                 //! set penalization matrices and control horizon
-                void set_control_parameters(const mat &Qy0, const mat &Qu0, const vec y_req0, int horizon0);
+                void set_control_parameters(const mat &Qy0, const mat &Qu0, const vec &y_req0, int horizon0);
                 //! set system parameters from Kalman filter
 //              void set_system_parameters(const Kalman &K);
                 //! refresh temporary storage - inefficient can be improved
-                void prepare_qr();
-                //! function for future use which is called at each time td; Should call prepare_qr()!
+                void initialize();
+                void validate();
+                //! function for future use which is called at each time td; Should call initialize()!
                 virtual void update_state(){};
                 //! redesign one step of the 
@@ -113 +114 @@
         } ;
 
+        //! Base class for adaptive controllers 
+        //! The base class is however non-adaptive, method \c adapt() is empty.
+        //! \note advanced Controllers will probably include estimator as their internal attribute (e.g. dual controllers)
+        class Controller : public root {
+                //! identifier of the system output;
+                RV yrv;
+                //! identifier of the system input;
+                RV urv;
+                //! description of data needed for \c ctrlaction , required for automatic connection to DS
+                RV drv;
+                public:
+                        //! function processing new observations and adapting control strategy accordingly
+                        virtual void adapt(const vec &data){};
+                        //! returns designed control action
+                        virtual vec ctrlaction(const vec &data){return vec(0);}
+                        
+                        void from_setting(const Setting &set){
+                                UI::get(yrv,set,"yrv",UI::optional);
+                                UI::get(yrv,set,"urv",UI::optional);
+                        }
+                        //! access function
+                        const RV& _urv() {return urv;}
+                        //! access function
+                        const RV& _yrv() {return yrv;}
+                        //! access function
+                        const RV& _drv() {return drv;}
+        };
+                        
 } // namespace