Routines for computing zero-order hold transformation on state space systems. More...

#include <ZeroOrderHold.hpp>

Classes
struct	mallocStruct

Public Member Functions
template<typename TScalar , int TStateDim, int TInputDim, int TOutputDim>
void	c2d (const ls::systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim > ss, double dt, ls::systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim > out, ls::analysis::ZeroOrderHold::mallocStruct< TScalar, TStateDim, TInputDim, TOutputDim > *memStruct, LS_IS_DYNAMIC(TStateDim, TInputDim, TOutputDim))

template<typename TScalar , int TStateDim, int TInputDim, int TOutputDim>
void	c2d (const ls::systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim > ss, double dt, ls::systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim > out, ls::analysis::ZeroOrderHold::mallocStruct< TScalar, TStateDim, TInputDim, TOutputDim > *memStruct, LS_IS_STATIC(TStateDim, TInputDim, TOutputDim))

template<typename TScalar , int TStateDim, int TInputDim, int TOutputDim>
void	d2c (const ls::systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim > ss, double dt, ls::systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim > out, ls::analysis::ZeroOrderHold::mallocStruct< TScalar, TStateDim, TInputDim, TOutputDim > *memStruct, LS_IS_DYNAMIC(TStateDim, TInputDim, TOutputDim))

template<typename TScalar , int TStateDim, int TInputDim, int TOutputDim>
void	d2c (const ls::systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim > ss, double dt, ls::systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim > out, ls::analysis::ZeroOrderHold::mallocStruct< TScalar, TStateDim, TInputDim, TOutputDim > *memStruct, LS_IS_STATIC(TStateDim, TInputDim, TOutputDim))

Static Public Member Functions
static systems::StateSpace	c2d (const Eigen::MatrixXd &A, const Eigen::MatrixXd &B, const Eigen::MatrixXd &C, const Eigen::MatrixXd &D, double dt)
	Generates zero-order hold discretization from a continuous-time state space system. More...

static systems::StateSpace	c2d (Eigen::MatrixXd A, Eigen::MatrixXd B, Eigen::MatrixXd C, Eigen::MatrixXd D, double dt)
	Generates zero-order hold discretization from a continuous-time state space system. More...

template<typename TScalar , int TStateDim, int TInputDim, int TOutputDim>
static void	c2d (const systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim > ss, double dt, systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim > out, mallocStruct< TScalar, TStateDim, TInputDim, TOutputDim > *memStruct, LS_IS_DYNAMIC_DEFAULT(TStateDim, TInputDim, TOutputDim))

template<typename TScalar , int TStateDim, int TInputDim, int TOutputDim>
static void	c2d (const systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim > ss, double dt, systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim > out, mallocStruct< TScalar, TStateDim, TInputDim, TOutputDim > *memStruct, LS_IS_STATIC_DEFAULT(TStateDim, TInputDim, TOutputDim))

static systems::StateSpace< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic >	c2d (const systems::StateSpace< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic > &ss, double dt)
	Generates zero-order hold discretization from a continuous-time state space system. More...

static systems::StateSpace	c2d (const systems::StateSpace<> *ss, double dt)
	Generates zero-order hold discretization from a continuous-time state space system. More...

static systems::StateSpace< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic >	d2c (const Eigen::MatrixXd &A, const Eigen::MatrixXd &B, const Eigen::MatrixXd &C, const Eigen::MatrixXd &D, double dt)
	Reverts a zero-order hold discretization on a discrete-time state space system. More...

static systems::StateSpace< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic >	d2c (Eigen::MatrixXd A, Eigen::MatrixXd B, Eigen::MatrixXd C, Eigen::MatrixXd D, double dt)
	Reverts a zero-order hold discretization on a discrete-time state space system. More...

static systems::StateSpace< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic >	d2c (const systems::StateSpace< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic > &ss, double dt)
	Reverts a zero-order hold discretization on a discrete-time state space system. More...

static systems::StateSpace	d2c (const systems::StateSpace<> *ss, double dt)
	Reverts a zero-order hold discretization on a discrete-time state space system. More...

static systems::StateSpace	d2c (const systems::StateSpace<> *ss)
	Reverts a zero-order hold discretization on a discrete-time state space system. More...

static systems::StateSpace	d2c (const systems::StateSpace<> &ss)
	Reverts a zero-order hold discretization on a discrete-time state space system. More...

template<typename TScalar , int TStateDim, int TInputDim, int TOutputDim>
static void	d2c (const systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim > ss, double dt, systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim > out, mallocStruct< TScalar, TStateDim, TInputDim, TOutputDim > *memStruct, LS_IS_DYNAMIC_DEFAULT(TStateDim, TInputDim, TOutputDim))
	Reverts a zero-order hold discretization on a discrete-time state space system. More...

template<typename TScalar , int TStateDim, int TInputDim, int TOutputDim>
static void	d2c (const systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim > ss, double dt, systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim > out, mallocStruct< TScalar, TStateDim, TInputDim, TOutputDim > *memStruct, LS_IS_STATIC_DEFAULT(TStateDim, TInputDim, TOutputDim))
	Reverts a zero-order hold discretization on a discrete-time state space system. More...

Detailed Description

Routines for computing zero-order hold transformation on state space systems.

See also: theory.ldstr.dev/discretization

Member Function Documentation

◆ c2d() [1/4]

ls::systems::StateSpace ls::analysis::ZeroOrderHold::c2d	(	const Eigen::MatrixXd &	A,
		const Eigen::MatrixXd &	B,
		const Eigen::MatrixXd &	C,
		const Eigen::MatrixXd &	D,
		double	dt
	)

static

Generates zero-order hold discretization from a continuous-time state space system.

Parameters

A	State matrix.
B	Input matrix.
C	Output matrix.
D	Feedforward matrix.
dt	Sampling period.

Returns: Zero-order hold discrete-time state space system.

◆ c2d() [2/4]

static systems::StateSpace<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic> ls::analysis::ZeroOrderHold::c2d	(	const systems::StateSpace< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic > &	ss,
		double	dt
	)

static

Generates zero-order hold discretization from a continuous-time state space system.

Parameters

ss	State space system.
dt	Sampling period.

Returns: Zero-order hold discrete-time state space system.

◆ c2d() [3/4]

ls::systems::StateSpace ls::analysis::ZeroOrderHold::c2d	(	const systems::StateSpace<> *	ss,
		double	dt
	)

static

Generates zero-order hold discretization from a continuous-time state space system.

Parameters

ss	Pointer to state space system.
dt	Sampling period.

Returns: Zero-order hold discrete-time state space system.

◆ c2d() [4/4]

ls::systems::StateSpace ls::analysis::ZeroOrderHold::c2d	(	Eigen::MatrixXd *	A,
		Eigen::MatrixXd *	B,
		Eigen::MatrixXd *	C,
		Eigen::MatrixXd *	D,
		double	dt
	)

static

Generates zero-order hold discretization from a continuous-time state space system.

Parameters

A	State matrix.
B	Input matrix.
C	Output matrix.
D	Feedforward matrix.
dt	Sampling period.

Returns: Zero-order hold discrete-time state space system.

◆ d2c() [1/8]

ls::systems::StateSpace ls::analysis::ZeroOrderHold::d2c	(	const Eigen::MatrixXd &	A,
		const Eigen::MatrixXd &	B,
		const Eigen::MatrixXd &	C,
		const Eigen::MatrixXd &	D,
		double	dt
	)

static

Reverts a zero-order hold discretization on a discrete-time state space system.

Parameters

A	State matrix.
B	Input matrix.
C	Output matrix.
D	Feedforward matrix.
dt	Sampling period.

Returns: Zero-order hold continuous-time state space system.

◆ d2c() [2/8]

static systems::StateSpace<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic> ls::analysis::ZeroOrderHold::d2c	(	const systems::StateSpace< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic > &	ss,
		double	dt
	)

static

Reverts a zero-order hold discretization on a discrete-time state space system.

Parameters

ss	State space system.
dt	Sampling period.

Returns: Continuous-time state space system.

◆ d2c() [3/8]

template<typename TScalar , int TStateDim, int TInputDim, int TOutputDim>

static void ls::analysis::ZeroOrderHold::d2c	(	const systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim > *	ss,
		double	dt,
		systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim > *	out,
		mallocStruct< TScalar, TStateDim, TInputDim, TOutputDim > *	memStruct,
		LS_IS_DYNAMIC_DEFAULT(TStateDim, TInputDim, TOutputDim)
	)

static

Reverts a zero-order hold discretization on a discrete-time state space system.

Parameters

ss	State space system.
dt	Sampling period.

Returns: Continuous-time state space system.

◆ d2c() [4/8]

template<typename TScalar , int TStateDim, int TInputDim, int TOutputDim>

static void ls::analysis::ZeroOrderHold::d2c	(	const systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim > *	ss,
		double	dt,
		systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim > *	out,
		mallocStruct< TScalar, TStateDim, TInputDim, TOutputDim > *	memStruct,
		LS_IS_STATIC_DEFAULT(TStateDim, TInputDim, TOutputDim)
	)

static

Reverts a zero-order hold discretization on a discrete-time state space system.

Parameters

ss	State space system.
dt	Sampling period.

Returns: Continuous-time state space system.

◆ d2c() [5/8]

ls::systems::StateSpace ls::analysis::ZeroOrderHold::d2c ( const systems::StateSpace<> & ss )

static

Reverts a zero-order hold discretization on a discrete-time state space system.

This method retrieves the sampling period from the state space object.

Parameters

ss	State space system.
dt	Sampling period.

Returns: Continuous-time state space system.

◆ d2c() [6/8]

ls::systems::StateSpace ls::analysis::ZeroOrderHold::d2c ( const systems::StateSpace<> * ss )

static

Reverts a zero-order hold discretization on a discrete-time state space system.

This method retrieves the sampling period from the state space object.

Parameters

ss	State space system.
dt	Sampling period.

Returns: Continuous-time state space system.

◆ d2c() [7/8]

ls::systems::StateSpace ls::analysis::ZeroOrderHold::d2c	(	const systems::StateSpace<> *	ss,
		double	dt
	)

static

Reverts a zero-order hold discretization on a discrete-time state space system.

Parameters

ss	State space system.
dt	Sampling period.

Returns: Continuous-time state space system.

◆ d2c() [8/8]

ls::systems::StateSpace ls::analysis::ZeroOrderHold::d2c	(	Eigen::MatrixXd *	A,
		Eigen::MatrixXd *	B,
		Eigen::MatrixXd *	C,
		Eigen::MatrixXd *	D,
		double	dt
	)

static

Reverts a zero-order hold discretization on a discrete-time state space system.

Parameters

A	State matrix.
B	Input matrix.
C	Output matrix.
D	Feedforward matrix.
dt	Sampling period.

Returns: Zero-order hold continuous-time state space system.

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

Lodestar/analysis/ZeroOrderHold.hpp
Lodestar/analysis/ZeroOrderHold.cpp

Lodestar An integrated real-time control package in C++

Classes

Public Member Functions

Static Public Member Functions

Detailed Description

Member Function Documentation

◆ c2d() [1/4]

◆ c2d() [2/4]

◆ c2d() [3/4]

◆ c2d() [4/4]

◆ d2c() [1/8]

◆ d2c() [2/8]

◆ d2c() [3/8]

◆ d2c() [4/8]

◆ d2c() [5/8]

◆ d2c() [6/8]

◆ d2c() [7/8]

◆ d2c() [8/8]