A simple step input. More...

Inheritance diagram for ct::core::StepInputController:

Classes
struct	Parameters
	Parameters of the step input function. More...

Public Member Functions
	StepInputController (const Parameters &parameters=Parameters())
	default constructor More...

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

StepInputController *	clone () const override
	deep cloning More...

void	computeControl (const StateVector< 1, double > &state, const double &t, ControlVector< 1, double > &controlAction) override
	computes control input More...

Public Member Functions inherited from ct::core::Controller< 1, 1, double >
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, double > &state, const double &t, ControlVector< CONTROL_DIM, double > &controlAction)=0
	Compute control signal. More...

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

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

Detailed Description

A simple step input.

A step input controller with a standard heaviside form

$\begin{aligned} u(t) \mapsto \begin{cases} 0 : & t < t_{step} \\ g : & t \ge t_{step} \end{cases} \end{aligned}$

where $ g $ is a constant gain and $t_{step}$ is the time of the step.

Constructor & Destructor Documentation

ct::core::StepInputController::StepInputController ( const Parameters & parameters = Parameters() )

inline

default constructor

Referenced by clone().

ct::core::StepInputController::StepInputController ( const StepInputController & arg )

inline

copy constructor

StepInputController* ct::core::StepInputController::clone ( ) const

inlineoverridevirtual

deep cloning

void ct::core::StepInputController::computeControl	(	const StateVector< 1, double > &	state,
		const double &	t,
		ControlVector< 1, double > &	controlAction
	)

inlineoverride

computes control input

Computes the control input. The state parameter gets ignored.

Parameters

state	current state (ignored)
t	current time

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_core/include/ct/core/control/continuous_time/siso/StepInputController.h