bdm::LQG Class Reference

#include <ctrlbase.h>

List of all members.

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

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Detailed Description

Linear Quadratic Gaussian designer for constant penalizations and constant target Its internals are very close to Kalman estimator

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Member Function Documentation

void bdm::LQG::prepare_qr

(

)

set system parameters from Kalman filter

refresh temporary storage - inefficient can be improved

References A, B, C, dimu, dimx, dimy, hqy, post_qr, pre_qr, Qu, qux, Qy, qyx, and s.

Referenced by set_control_parameters().

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The documentation for this class was generated from the following files:

• ctrlbase.h
• ctrlbase.cpp