Linear time-invariant system. More...

#include <LTISystem.h>

Inheritance diagram for ct::core::LTISystem< STATE_DIM, CONTROL_DIM >:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	LTISystem (const Eigen::Matrix< double, STATE_DIM, STATE_DIM > &A, const Eigen::Matrix< double, STATE_DIM, CONTROL_DIM > &B, const Eigen::Matrix< double, STATE_DIM, STATE_DIM > &C=Eigen::Matrix< double, STATE_DIM, STATE_DIM >::Identity(), const Eigen::Matrix< double, STATE_DIM, CONTROL_DIM > D=Eigen::Matrix< double, STATE_DIM, CONTROL_DIM >::Zero())
	Constructs a linear time invariant system. More...

	LTISystem (const LTISystem &arg)
	copy constructor More...

LTISystem< STATE_DIM, CONTROL_DIM > *	clone () const override
	deep clone More...

virtual	~LTISystem ()

virtual const Eigen::Matrix< double, STATE_DIM, STATE_DIM > &	getDerivativeState (const StateVector< STATE_DIM > &x, const ControlVector< CONTROL_DIM > &u, const double t=0.0) override
	get A matrix More...

virtual const Eigen::Matrix< double, STATE_DIM, CONTROL_DIM > &	getDerivativeControl (const StateVector< STATE_DIM > &x, const ControlVector< CONTROL_DIM > &u, const double t=0.0) override
	get B matrix More...

Eigen::Matrix< double, STATE_DIM, STATE_DIM > &	A ()
	get A matrix More...

Eigen::Matrix< double, STATE_DIM, CONTROL_DIM > &	B ()
	get B matrix More...

Eigen::Matrix< double, STATE_DIM, STATE_DIM > &	C ()
	get C matrix More...

Eigen::Matrix< double, STATE_DIM, CONTROL_DIM > &	D ()
	get D matrix More...

void	computeControlledDynamics (const Eigen::Matrix< double, STATE_DIM, 1 > &state, const Time &t, const Eigen::Matrix< double, CONTROL_DIM, 1 > &control, Eigen::Matrix< double, STATE_DIM, 1 > &derivative)
	computes the system dynamics More...

void	computeOutput (const Eigen::Matrix< double, STATE_DIM, 1 > &state, const Time &t, const Eigen::Matrix< double, CONTROL_DIM, 1 > &control, Eigen::Matrix< double, STATE_DIM, 1 > &output)
	computes the system output (measurement) More...

void	computeControllabilityMatrix (Eigen::Matrix< double, STATE_DIM, STATE_DIM *CONTROL_DIM > &CO)
	computes the controllability matrix More...

bool	isControllable ()
	checks if system is fully controllable More...

void	computeObservabilityMatrix (Eigen::Matrix< double, STATE_DIM, STATE_DIM *STATE_DIM > &O)
	computes the observability matrix More...

bool	isObservable ()
	checks if system is fully observable More...

Public Member Functions inherited from ct::core::LinearSystem< STATE_DIM, CONTROL_DIM >
	LinearSystem (const ct::core::SYSTEM_TYPE &type=ct::core::SYSTEM_TYPE::GENERAL)
	default constructor More...

virtual	~LinearSystem ()
	destructor More...

virtual void	computeControlledDynamics (const state_vector_t &state, const time_t &t, const control_vector_t &control, state_vector_t &derivative) override
	compute the system dynamics More...

virtual const state_matrix_t &	getDerivativeState (const state_vector_t &x, const control_vector_t &u, const time_t t=time_t(0.0))=0
	get the A matrix of a linear system More...

virtual const state_control_matrix_t &	getDerivativeControl (const state_vector_t &x, const control_vector_t &u, const time_t t=time_t(0.0))=0
	get the B matrix of a linear system More...

virtual void	getDerivatives (state_matrix_t &A, state_control_matrix_t &B, const state_vector_t &x, const control_vector_t &u, const time_t t=time_t(0.0))
	Get both linear system matrices A and B in one call. More...

Public Member Functions inherited from ct::core::ControlledSystem< STATE_DIM, CONTROL_DIM, double >
	ControlledSystem (const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL)
	default constructor More...

	ControlledSystem (std::shared_ptr< ct::core::Controller< STATE_DIM, CONTROL_DIM, double >> controller, const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL)
	constructor More...

	ControlledSystem (const ControlledSystem &arg)
	copy constructor More...

virtual	~ControlledSystem ()
	destructor More...

void	setController (const std::shared_ptr< Controller< STATE_DIM, CONTROL_DIM, double >> &controller)
	set a new controller More...

void	getController (std::shared_ptr< Controller< STATE_DIM, CONTROL_DIM, double >> &controller) const
	get the controller instance More...

std::shared_ptr< Controller< STATE_DIM, CONTROL_DIM, double > >	getController ()
	get the controller instace More...

virtual void	computeDynamics (const StateVector< STATE_DIM, double > &state, const time_t &t, StateVector< STATE_DIM, double > &derivative) override
	compute the dynamics of the system More...

ControlVector< CONTROL_DIM, double >	getLastControlAction ()

Public Member Functions inherited from ct::core::System< STATE_DIM, double >
	System (const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL)
	default constructor More...

	System (const System &other)
	copy constructor More...

virtual	~System ()
	destructor More...

virtual void	computeDynamics (const StateVector< STATE_DIM, double > &state, const time_t &t, StateVector< STATE_DIM, double > &derivative)=0
	computes the system dynamics More...

SYSTEM_TYPE	getType () const
	get the type of system More...

virtual bool	isSymplectic () const
	Determines if the system is in symplectic form. More...

Additional Inherited Members
Public Types inherited from ct::core::LinearSystem< STATE_DIM, CONTROL_DIM >
typedef Base::time_t	time_t

typedef StateVector< STATE_DIM, double >	state_vector_t
	state vector type More...

typedef ControlVector< CONTROL_DIM, double >	control_vector_t
	input vector type More...

typedef StateMatrix< STATE_DIM, double >	state_matrix_t
	state Jacobian type More...

typedef StateControlMatrix< STATE_DIM, CONTROL_DIM, double >	state_control_matrix_t
	input Jacobian type More...

Public Types inherited from ct::core::ControlledSystem< STATE_DIM, CONTROL_DIM, double >
typedef std::shared_ptr< ControlledSystem< STATE_DIM, CONTROL_DIM, double > >	Ptr

typedef Base::time_t	time_t

Public Types inherited from ct::core::System< STATE_DIM, double >
typedef double	time_t
	the type of the time variable More...

Public Attributes inherited from ct::core::LinearSystem< STATE_DIM, CONTROL_DIM >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ControlledSystem< STATE_DIM, CONTROL_DIM, double >	Base

Public Attributes inherited from ct::core::ControlledSystem< STATE_DIM, CONTROL_DIM, double >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef System< STATE_DIM, double >	Base

Public Attributes inherited from ct::core::System< STATE_DIM, double >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef double	S
	the scalar type More...

Protected Attributes inherited from ct::core::ControlledSystem< STATE_DIM, CONTROL_DIM, double >
std::shared_ptr< Controller< STATE_DIM, CONTROL_DIM, double > >	controller_
	the controller instance More...

ControlVector< CONTROL_DIM, double >	controlAction_

Protected Attributes inherited from ct::core::System< STATE_DIM, double >
SYSTEM_TYPE	type_
	type of system More...

Detailed Description

template<size_t STATE_DIM, size_t CONTROL_DIM>
class ct::core::LTISystem< STATE_DIM, CONTROL_DIM >

Linear time-invariant system.

This defines a general linear time-invariant system of the form

$\begin{aligned} \dot{x} &= Ax + Bu \\ y &= Cx + Du \end{aligned}$

Template Parameters

STATE_DIM	size of state vector
CONTROL_DIM	size of control vector

Constructor & Destructor Documentation

◆ LTISystem() [1/2]

template<size_t STATE_DIM, size_t CONTROL_DIM>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW ct::core::LTISystem< STATE_DIM, CONTROL_DIM >::LTISystem	(	const Eigen::Matrix< double, STATE_DIM, STATE_DIM > &	A,
		const Eigen::Matrix< double, STATE_DIM, CONTROL_DIM > &	B,
		const Eigen::Matrix< double, STATE_DIM, STATE_DIM > &	C = `Eigen::Matrix<double, STATE_DIM, STATE_DIM>::Identity()`,
		const Eigen::Matrix< double, STATE_DIM, CONTROL_DIM >	D = `Eigen::Matrix<double, STATE_DIM, CONTROL_DIM>::Zero()`
	)

inline

Constructs a linear time invariant system.

Parameters

A	A matrix
B	B matrix
C	C matrix
D	D matrix

Returns: instance of the LTI system

◆ LTISystem() [2/2]

template<size_t STATE_DIM, size_t CONTROL_DIM>

ct::core::LTISystem< STATE_DIM, CONTROL_DIM >::LTISystem ( const LTISystem< STATE_DIM, CONTROL_DIM > & arg )

inline

copy constructor

◆ ~LTISystem()

template<size_t STATE_DIM, size_t CONTROL_DIM>

virtual ct::core::LTISystem< STATE_DIM, CONTROL_DIM >::~LTISystem ( )

inlinevirtual

Member Function Documentation

◆ clone()

template<size_t STATE_DIM, size_t CONTROL_DIM>

LTISystem<STATE_DIM, CONTROL_DIM>* ct::core::LTISystem< STATE_DIM, CONTROL_DIM >::clone ( ) const

inlineoverridevirtual

deep clone

Implements ct::core::LinearSystem< STATE_DIM, CONTROL_DIM >.

◆ getDerivativeState()

template<size_t STATE_DIM, size_t CONTROL_DIM>

virtual const Eigen::Matrix<double, STATE_DIM, STATE_DIM>& ct::core::LTISystem< STATE_DIM, CONTROL_DIM >::getDerivativeState	(	const StateVector< STATE_DIM > &	x,
		const ControlVector< CONTROL_DIM > &	u,
		const double	t = `0.0`
	)

inlineoverridevirtual

get A matrix

◆ getDerivativeControl()

template<size_t STATE_DIM, size_t CONTROL_DIM>

virtual const Eigen::Matrix<double, STATE_DIM, CONTROL_DIM>& ct::core::LTISystem< STATE_DIM, CONTROL_DIM >::getDerivativeControl	(	const StateVector< STATE_DIM > &	x,
		const ControlVector< CONTROL_DIM > &	u,
		const double	t = `0.0`
	)

inlineoverridevirtual

get B matrix

◆ A()

template<size_t STATE_DIM, size_t CONTROL_DIM>

Eigen::Matrix<double, STATE_DIM, STATE_DIM>& ct::core::LTISystem< STATE_DIM, CONTROL_DIM >::A ( )

inline

get A matrix

◆ B()

template<size_t STATE_DIM, size_t CONTROL_DIM>

Eigen::Matrix<double, STATE_DIM, CONTROL_DIM>& ct::core::LTISystem< STATE_DIM, CONTROL_DIM >::B ( )

inline

get B matrix

◆ C()

template<size_t STATE_DIM, size_t CONTROL_DIM>

Eigen::Matrix<double, STATE_DIM, STATE_DIM>& ct::core::LTISystem< STATE_DIM, CONTROL_DIM >::C ( )

inline

get C matrix

◆ D()

template<size_t STATE_DIM, size_t CONTROL_DIM>

Eigen::Matrix<double, STATE_DIM, CONTROL_DIM>& ct::core::LTISystem< STATE_DIM, CONTROL_DIM >::D ( )

inline

get D matrix

◆ computeControlledDynamics()

template<size_t STATE_DIM, size_t CONTROL_DIM>

void ct::core::LTISystem< STATE_DIM, CONTROL_DIM >::computeControlledDynamics	(	const Eigen::Matrix< double, STATE_DIM, 1 > &	state,
		const Time &	t,
		const Eigen::Matrix< double, CONTROL_DIM, 1 > &	control,
		Eigen::Matrix< double, STATE_DIM, 1 > &	derivative
	)

inline

computes the system dynamics

Computes $\dot{x} = Ax + Bu$

Parameters

state	current state x
t	time (gets ignored)
control	control input
derivative	state derivative

◆ computeOutput()

template<size_t STATE_DIM, size_t CONTROL_DIM>

void ct::core::LTISystem< STATE_DIM, CONTROL_DIM >::computeOutput	(	const Eigen::Matrix< double, STATE_DIM, 1 > &	state,
		const Time &	t,
		const Eigen::Matrix< double, CONTROL_DIM, 1 > &	control,
		Eigen::Matrix< double, STATE_DIM, 1 > &	output
	)

inline

computes the system output (measurement)

Computes $ y = Cx + Du $

Parameters

state	current state x
t	time (gets ignored)
control	control input
output	system output (measurement)

◆ computeControllabilityMatrix()

template<size_t STATE_DIM, size_t CONTROL_DIM>

void ct::core::LTISystem< STATE_DIM, CONTROL_DIM >::computeControllabilityMatrix ( Eigen::Matrix< double, STATE_DIM, STATE_DIM *CONTROL_DIM > & CO )

inline

computes the controllability matrix

Computes the controllability matrix to assess controllability. See isControllable() for the full test.

Todo:: Move to LinearSystem

Parameters

CO	controllability matrix

References i.

Referenced by ct::core::LTISystem< STATE_DIM, CONTROL_DIM >::isControllable().

◆ isControllable()

template<size_t STATE_DIM, size_t CONTROL_DIM>

bool ct::core::LTISystem< STATE_DIM, CONTROL_DIM >::isControllable ( )

inline

checks if system is fully controllable

Todo:: Move to LinearSystem

Returns: true if fully controllable, false if only partially or non-controllable

References ct::core::LTISystem< STATE_DIM, CONTROL_DIM >::computeControllabilityMatrix().

◆ computeObservabilityMatrix()

template<size_t STATE_DIM, size_t CONTROL_DIM>

void ct::core::LTISystem< STATE_DIM, CONTROL_DIM >::computeObservabilityMatrix ( Eigen::Matrix< double, STATE_DIM, STATE_DIM *STATE_DIM > & O )

inline

computes the observability matrix

Todo:: Move to LinearSystem

Computes the observability matrix to assess observability. See isObservable() for the full test.

Parameters

O	observability matrix

References i.

Referenced by ct::core::LTISystem< STATE_DIM, CONTROL_DIM >::isObservable().

◆ isObservable()

template<size_t STATE_DIM, size_t CONTROL_DIM>

bool ct::core::LTISystem< STATE_DIM, CONTROL_DIM >::isObservable ( )

inline

checks if system is fully observable

Todo:: Move to LinearSystem

Returns: true if fully observable, false if only partially or non-observable

References ct::core::LTISystem< STATE_DIM, CONTROL_DIM >::computeObservabilityMatrix().

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_core/include/ct/core/systems/continuous_time/linear/LTISystem.h

Public Member Functions

Additional Inherited Members

Detailed Description

template<size_t STATE_DIM, size_t CONTROL_DIM> class ct::core::LTISystem< STATE_DIM, CONTROL_DIM >

Constructor & Destructor Documentation

◆ LTISystem() [1/2]

◆ LTISystem() [2/2]

◆ ~LTISystem()

Member Function Documentation

◆ clone()

◆ getDerivativeState()

◆ getDerivativeControl()

◆ A()

◆ B()

◆ C()

◆ D()

◆ computeControlledDynamics()

◆ computeOutput()

◆ computeControllabilityMatrix()

◆ isControllable()

◆ computeObservabilityMatrix()

◆ isObservable()

template<size_t STATE_DIM, size_t CONTROL_DIM>
class ct::core::LTISystem< STATE_DIM, CONTROL_DIM >