A linear state feedback controller. More...

#include <StateFeedbackController.h>

Inheritance diagram for ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >:

Public Types
typedef DiscreteController< STATE_DIM, CONTROL_DIM, SCALAR >	DiscreteBase

typedef DiscreteBase::state_vector_t	state_vector_t

typedef DiscreteBase::control_vector_t	control_vector_t

typedef StateVectorArray< STATE_DIM, SCALAR >	state_vector_array_t

typedef ControlVectorArray< CONTROL_DIM, SCALAR >	control_vector_array_t

typedef FeedbackArray< STATE_DIM, CONTROL_DIM, SCALAR >	feedback_array_t

Public Types inherited from ct::core::DiscreteController< STATE_DIM, CONTROL_DIM, SCALAR >
typedef ControlVector< CONTROL_DIM, SCALAR >	control_vector_t

Public Member Functions
	StateFeedbackController ()
	default constructor More...

	StateFeedbackController (const StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR > &other)
	copy constructor More...

	StateFeedbackController (const state_vector_array_t &x_ref, const control_vector_array_t &uff, const feedback_array_t &K, const SCALAR deltaT, const SCALAR t0=0.0, const InterpolationType &intType=ZOH)
	constructor More...

virtual	~StateFeedbackController ()
	destructor More...

StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR > *	clone () const override
	deep cloning More...

virtual void	computeControl (const state_vector_t &state, const SCALAR &t, control_vector_t &controlAction) override
	computes the control action in the continuous case More...

virtual void	computeControl (const state_vector_t &state, const int n, control_vector_t &controlAction) override
	computes the control action in the discrete case More...

void	update (const DiscreteArray< state_vector_t > &x_ref, const DiscreteArray< control_vector_t > &uff, const DiscreteArray< FeedbackMatrix< STATE_DIM, CONTROL_DIM, SCALAR >> &K, const tpl::TimeArray< SCALAR > &t)
	updates the controller More...

const DiscreteArray< state_vector_t > &	x_ref () const
	get reference state vector array (without timings) More...

const DiscreteArray< control_vector_t > &	uff () const
	get feedforward array (without timings) More...

const DiscreteArray< FeedbackMatrix< STATE_DIM, CONTROL_DIM, SCALAR > > &	K () const
	get feedback array (without timings) More...

const tpl::TimeArray< SCALAR > &	time () const
	get time array More...

StateTrajectory< STATE_DIM, SCALAR > &	getReferenceStateTrajectory ()
	get a reference to the feedforward trajectory More...

const StateTrajectory< STATE_DIM, SCALAR > &	getReferenceStateTrajectory () const
	get a reference to the feedforward trajectory More...

ControlTrajectory< CONTROL_DIM, SCALAR > &	getFeedforwardTrajectory ()
	get a reference to the feedforward trajectory More...

const ControlTrajectory< CONTROL_DIM, SCALAR > &	getFeedforwardTrajectory () const
	get a reference to the feedforward trajectory More...

FeedbackTrajectory< STATE_DIM, CONTROL_DIM, SCALAR > &	getFeedbackTrajectory ()
	get a reference to the feedback trajectory More...

const FeedbackTrajectory< STATE_DIM, CONTROL_DIM, SCALAR > &	getFeedbackTrajectory () const
	get a reference to the feedback trajectory More...

void	extractControlTrajectory (const StateTrajectory< STATE_DIM, SCALAR > &x_traj, ControlTrajectory< CONTROL_DIM, SCALAR > &u_traj)
	extracts a physically meaningful control trajectory from the given state-feedback law and a reference state trajectory More...

Public Member Functions inherited from ct::core::Controller< STATE_DIM, CONTROL_DIM, SCALAR >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Controller ()
	Default constructor. More...

	Controller (const Controller &other)
	Copy constructor. More...

virtual	~Controller ()
	Destructor. More...

virtual void	computeControl (const StateVector< STATE_DIM, SCALAR > &state, const SCALAR &t, ControlVector< CONTROL_DIM, SCALAR > &controlAction)=0
	Compute control signal. More...

virtual ControlMatrix< CONTROL_DIM, SCALAR >	getDerivativeU0 (const StateVector< STATE_DIM, SCALAR > &state, const SCALAR time)
	Returns the the derivative of the control with respect to the initial control input u0. More...

virtual ControlMatrix< CONTROL_DIM, SCALAR >	getDerivativeUf (const StateVector< STATE_DIM, SCALAR > &state, const SCALAR time)
	Returns the the derivative of the control with respect to the final control input uF. More...

Public Member Functions inherited from ct::core::DiscreteController< STATE_DIM, CONTROL_DIM, SCALAR >
	DiscreteController ()
	Default constructor. More...

	DiscreteController (const DiscreteController &other)
	Copy constructor. More...

virtual	~DiscreteController ()
	Destructor. More...

virtual void	computeControl (const state_vector_t &state, const int n, control_vector_t &controlAction)=0
	Compute control signal. More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Controller< STATE_DIM, CONTROL_DIM, SCALAR >	ContinuousBase

Public Attributes inherited from ct::core::DiscreteController< STATE_DIM, CONTROL_DIM, SCALAR >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef StateVector< STATE_DIM, SCALAR >	state_vector_t

Protected Attributes
StateTrajectory< STATE_DIM, SCALAR >	x_ref_

ControlTrajectory< CONTROL_DIM, SCALAR >	uff_
	state reference trajectory More...

FeedbackTrajectory< STATE_DIM, CONTROL_DIM, SCALAR >	K_
	feedforward control trajectory More...

Detailed Description

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>
class ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >

A linear state feedback controller.

A general, time-varying linear state feedback controller with feedforward action of type. It supports both continuous and discrete time.

$u(x,t) = u_{ff}(t) + K(t) (x - x_{ref})$

or

$u(x,n) = u_{ff}[n] + K[n] (x - x_{ref})$

where $u_{ff}$ is a time varying feedforward and $ K(t) $ a time-varying linear feedback controller.

Template Parameters

STATE_DIM	state vector size
CONTROL_DIM	control vector size
SCALAR	primitive type

Member Typedef Documentation

◆ DiscreteBase

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef DiscreteController<STATE_DIM, CONTROL_DIM, SCALAR> ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::DiscreteBase

◆ state_vector_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef DiscreteBase::state_vector_t ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::state_vector_t

◆ control_vector_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef DiscreteBase::control_vector_t ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::control_vector_t

◆ state_vector_array_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef StateVectorArray<STATE_DIM, SCALAR> ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::state_vector_array_t

◆ control_vector_array_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef ControlVectorArray<CONTROL_DIM, SCALAR> ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::control_vector_array_t

◆ feedback_array_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef FeedbackArray<STATE_DIM, CONTROL_DIM, SCALAR> ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::feedback_array_t

Constructor & Destructor Documentation

◆ StateFeedbackController() [1/3]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::StateFeedbackController ( )

inline

default constructor

References ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::K(), ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::uff(), ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::x_ref(), and ct::core::ZOH.

Referenced by ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::StateFeedbackController().

◆ StateFeedbackController() [2/3]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::StateFeedbackController ( const StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR > & other )

copy constructor

References ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::K(), ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::K_, ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::StateFeedbackController(), ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::uff(), ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::uff_, ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::x_ref(), and ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::x_ref_.

◆ StateFeedbackController() [3/3]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::StateFeedbackController	(	const state_vector_array_t &	x_ref,
		const control_vector_array_t &	uff,
		const feedback_array_t &	K,
		const SCALAR	deltaT,
		const SCALAR	t0 = `0.0`,
		const InterpolationType &	intType = `ZOH`
	)

constructor

Constructs a state feedback controller. The feedforward and feedback parts get interpolated where required.

Note: in the discrete setting, the initial time step is always assumed to be n=0

Parameters

uff	feedforward controller.
K	feedback controller.
deltaT	discretization step
t0	initial time.
intType	interpolation type

◆ ~StateFeedbackController()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

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

inlinevirtual

destructor

Member Function Documentation

◆ clone()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

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

overridevirtual

deep cloning

Implements ct::core::Controller< STATE_DIM, CONTROL_DIM, SCALAR >.

Referenced by ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::~StateFeedbackController().

◆ computeControl() [1/2]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::computeControl	(	const state_vector_t &	state,
		const SCALAR &	t,
		control_vector_t &	controlAction
	)

overridevirtual

computes the control action in the continuous case

evaluates the controller using interpolation where required using interpolation

Parameters

state	current state
t	current time
controlAction	resulting control action

References ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::K_, ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::uff_, and ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::x_ref_.

Referenced by ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::~StateFeedbackController().

◆ computeControl() [2/2]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::computeControl	(	const state_vector_t &	state,
		const int	n,
		control_vector_t &	controlAction
	)

overridevirtual

computes the control action in the discrete case

Evaluate the given controller for a given state and time index returns the computed control action.

Parameters

state	current state of the system
n	current time index of the system
controlAction	the corresponding control action

References ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::K_, n, ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::uff_, and ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::x_ref_.

◆ update()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::update	(	const DiscreteArray< state_vector_t > &	x_ref,
		const DiscreteArray< control_vector_t > &	uff,
		const DiscreteArray< FeedbackMatrix< STATE_DIM, CONTROL_DIM, SCALAR >> &	K,
		const tpl::TimeArray< SCALAR > &	t
	)

updates the controller

sets a new feedforward and feedback controller

Parameters

uff	feedforward control action
K	feedback controller
times	discretization times

References ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::K_, ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::uff_, and ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::x_ref_.

Referenced by ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::~StateFeedbackController().

◆ x_ref()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

const DiscreteArray< typename StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::state_vector_t > & ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::x_ref ( ) const

get reference state vector array (without timings)

References ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::x_ref_.

Referenced by ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::StateFeedbackController(), and ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::~StateFeedbackController().

◆ uff()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

const DiscreteArray< typename StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::control_vector_t > & ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::uff ( ) const

get feedforward array (without timings)

References ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::uff_.

Referenced by ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::StateFeedbackController(), and ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::~StateFeedbackController().

◆ K()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

const DiscreteArray< FeedbackMatrix< STATE_DIM, CONTROL_DIM, SCALAR > > & ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::K ( ) const

get feedback array (without timings)

References ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::K_.

Referenced by ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::StateFeedbackController(), and ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::~StateFeedbackController().

◆ time()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

const tpl::TimeArray< SCALAR > & ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::time ( ) const

get time array

References ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::x_ref_.

Referenced by ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::~StateFeedbackController().

◆ getReferenceStateTrajectory() [1/2]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

StateTrajectory< STATE_DIM, SCALAR > & ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::getReferenceStateTrajectory ( )

get a reference to the feedforward trajectory

References ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::x_ref_.

Referenced by ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::~StateFeedbackController().

◆ getReferenceStateTrajectory() [2/2]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

const StateTrajectory< STATE_DIM, SCALAR > & ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::getReferenceStateTrajectory ( ) const

get a reference to the feedforward trajectory

References ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::x_ref_.

◆ getFeedforwardTrajectory() [1/2]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ControlTrajectory< CONTROL_DIM, SCALAR > & ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::getFeedforwardTrajectory ( )

get a reference to the feedforward trajectory

References ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::uff_.

Referenced by ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::~StateFeedbackController().

◆ getFeedforwardTrajectory() [2/2]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

const ControlTrajectory< CONTROL_DIM, SCALAR > & ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::getFeedforwardTrajectory ( ) const

get a reference to the feedforward trajectory

References ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::uff_.

◆ getFeedbackTrajectory() [1/2]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

FeedbackTrajectory< STATE_DIM, CONTROL_DIM, SCALAR > & ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::getFeedbackTrajectory ( )

get a reference to the feedback trajectory

References ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::K_.

Referenced by ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::~StateFeedbackController().

◆ getFeedbackTrajectory() [2/2]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

const FeedbackTrajectory< STATE_DIM, CONTROL_DIM, SCALAR > & ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::getFeedbackTrajectory ( ) const

get a reference to the feedback trajectory

References ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::K_.

◆ extractControlTrajectory()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::extractControlTrajectory	(	const StateTrajectory< STATE_DIM, SCALAR > &	x_traj,
		ControlTrajectory< CONTROL_DIM, SCALAR > &	u_traj
	)

extracts a physically meaningful control trajectory from the given state-feedback law and a reference state trajectory

References ct::core::DiscreteTrajectoryBase< T, Alloc, SCALAR >::clear(), ct::core::DiscreteTrajectoryBase< T, Alloc, SCALAR >::getTimeFromIndex(), i, ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::K_, ct::core::DiscreteTrajectoryBase< T, Alloc, SCALAR >::push_back(), ct::core::DiscreteTrajectoryBase< T, Alloc, SCALAR >::size(), ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::uff_, and ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::x_ref_.

Referenced by ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::~StateFeedbackController().

Member Data Documentation

◆ ContinuousBase

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Controller<STATE_DIM, CONTROL_DIM, SCALAR> ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::ContinuousBase

◆ x_ref_

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

StateTrajectory<STATE_DIM, SCALAR> ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::x_ref_

protected

Referenced by ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::computeControl(), ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::extractControlTrajectory(), ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::getReferenceStateTrajectory(), ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::StateFeedbackController(), ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::time(), ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::update(), and ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::x_ref().

◆ uff_

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

ControlTrajectory<CONTROL_DIM, SCALAR> ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::uff_

protected

state reference trajectory

Referenced by ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::computeControl(), ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::extractControlTrajectory(), ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::getFeedforwardTrajectory(), ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::StateFeedbackController(), ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::uff(), and ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::update().

◆ K_

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

FeedbackTrajectory<STATE_DIM, CONTROL_DIM, SCALAR> ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::K_

protected

feedforward control trajectory

Referenced by ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::computeControl(), ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::extractControlTrajectory(), ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::getFeedbackTrajectory(), ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::K(), ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::StateFeedbackController(), and ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::update().

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_core/include/ct/core/control/StateFeedbackController.h
/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_core/include/ct/core/control/StateFeedbackController-impl.h

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double> class ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >

Member Typedef Documentation

◆ DiscreteBase

◆ state_vector_t

◆ control_vector_t

◆ state_vector_array_t

◆ control_vector_array_t

◆ feedback_array_t

Constructor & Destructor Documentation

◆ StateFeedbackController() [1/3]

◆ StateFeedbackController() [2/3]

◆ StateFeedbackController() [3/3]

◆ ~StateFeedbackController()

Member Function Documentation

◆ clone()

◆ computeControl() [1/2]

◆ computeControl() [2/2]

◆ update()

◆ x_ref()

◆ uff()

◆ K()

◆ time()

◆ getReferenceStateTrajectory() [1/2]

◆ getReferenceStateTrajectory() [2/2]

◆ getFeedforwardTrajectory() [1/2]

◆ getFeedforwardTrajectory() [2/2]

◆ getFeedbackTrajectory() [1/2]

◆ getFeedbackTrajectory() [2/2]

◆ extractControlTrajectory()

Member Data Documentation

◆ ContinuousBase

◆ x_ref_

◆ uff_

◆ K_

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>
class ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >