#include <ctrlbase.h>
Public Member Functions | |
| void | set_system (shared_ptr< StateSpace< fsqmat > > S0) |
| 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 | initialize () |
| set system parameters from Kalman filter | |
| void | validate () |
| virtual void | update_state () |
| function for future use which is called at each time td; Should call initialize()! | |
| 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 | |
Protected Attributes | |
| shared_ptr< StateSpace< fsqmat > > | S |
| StateSpace model from which we read data. | |
| vec | y_req |
| required value of the output y at time t (assumed constant) | |
| vec | u_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 - use initialize | |
convenience parameters | |
| int | dimx |
| int | dimy |
| convenience parameters | |
| int | dimu |
| convenience parameters | |
| mat | pr |
| parameters | |
| 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::initialize | ( | ) |
1.5.9