LinearSystem Class Reference

This class creates a linear time-invariant (control) system. More...

#include <LinearSystem.hxx>

Inheritance diagram for LinearSystem:

Public Member Functions
	LinearSystem ()
	Default constructor.
	LinearSystem (const Vector &num, const Vector &den, double dt)
	This constructs a SISO system, on the basis of continuous time transfer function.
	LinearSystem (const LinearSystem &)
	Copy constructor.
	LinearSystem (const Matrix &A, const Matrix &B, const Matrix &C, const Matrix &D, double dt)
	This constructs a system, on the basis of a continuous time state space system.
	LinearSystem (const Matrix &phi, const Matrix &psi, const Matrix &C, const Matrix &D)
	This constructs a system, on the basis of a discrete time state space system.
virtual	~LinearSystem ()
	Destructor.
LinearSystem &	operator= (const LinearSystem &o)
	Assignment of one system to another.
virtual void	acceptState (const Vector &x_new)
	Accept a new state.
virtual const Vector &	step (const Vector &u)
	Calculate a single time step, return the output vector.
virtual const Vector &	step (double u)
	Calculate a single time step, return the output vector.
virtual void	reset ()
	Reset the state to 0;.
void	createFromNumDen (const Vector &num, const Vector &den, double dt)
	Create a system from numerator, denominator input.
void	createFromABCD (const Matrix &A, const Matrix &B, const Matrix &C, const Matrix &D, double dt)
	Create from matrices.
void	createFromPhiPsiCD (const Matrix &phi, const Matrix &psi, const Matrix &C, const Matrix &D)
	Create from matrices, discrete.
const Vector &	getY () const
	Obtain the output vector.
const Vector &	getX () const
	Obtain the state vector.
Vector &	getX ()
	Obtain the state vector for modification.
const Matrix &	getPhi () const
	Additional output, transition.
const Matrix &	getPsi () const
	Input matrix discrete system.
const Matrix &	getC () const
	Output matrix.
const Matrix &	getD () const
	Feedthrough matrix.

Protected Attributes
unsigned	n
	Order of the system.
unsigned	m
	Number of outputs.
Matrix	Phi
	Transition matrix.
Matrix	Psi
	Input matrix.
Matrix	C
	Output matrix.
Matrix	D
	Feedthrough matrix.
Vector	x
	The state vector.
Vector	y
	The output vector.

Detailed Description

This class creates a linear time-invariant (control) system.

The system is transformed to state-space form if necessary, and discretized with the parameter dt.

Constructor & Destructor Documentation

LinearSystem() [1/3]

LinearSystem::LinearSystem	(	const Vector &	num,
		const Vector &	den,
		double	dt )

This constructs a SISO system, on the basis of continuous time transfer function.

Parameters

num	Numerator of the transfer function. Elements are arranged as num[0]*s^0 + num[1]*s^1 etc.
den	Denominator.
dt	Size, in seconds, of the discrete time step.

LinearSystem() [2/3]

LinearSystem::LinearSystem	(	const Matrix &	A,
		const Matrix &	B,
		const Matrix &	C,
		const Matrix &	D,
		double	dt )

This constructs a system, on the basis of a continuous time state space system.

Parameters

A	A matrix
B	B matrix
C	C matrix
D	D matrix
dt	Size, in seconds, of the discrete time step.

LinearSystem() [3/3]

LinearSystem::LinearSystem	(	const Matrix &	phi,
		const Matrix &	psi,
		const Matrix &	C,
		const Matrix &	D )

This constructs a system, on the basis of a discrete time state space system.

Parameters

phi	phi matrix
psi	psi matrix
C	C matrix
D	D matrix

Member Function Documentation

acceptState()

virtual void LinearSystem::acceptState ( const Vector & x_new )

virtual

Accept a new state.

Parameters

x_new

Vector with the new state.

Reimplemented in Integrator, and LimitedLinearSystem.

step() [1/2]

virtual const Vector & LinearSystem::step ( const Vector & u )

virtual

Calculate a single time step, return the output vector.

Parameters

u	Input vector.

Reimplemented in Integrator, and LimitedLinearSystem.

step() [2/2]

virtual const Vector & LinearSystem::step ( double u )

virtual

Calculate a single time step, return the output vector.

Parameters

u	Input variable. Only valid for SI systems.

Reimplemented in Integrator, and LimitedLinearSystem.

reset()

virtual void LinearSystem::reset ( )

virtual

Reset the state to 0;.

Reimplemented in LimitedLinearSystem.

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

• /home/abuild/rpmbuild/BUILD/dueca-4.1.3/extra/LinearSystem.hxx