Inheritance diagram for ls::systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim >:

Collaboration diagram for ls::systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim >:

Public Types
typedef Eigen::Matrix< TScalar, TStateDim, TStateDim >	TDStateMatrix

typedef Eigen::Matrix< TScalar, TStateDim, TInputDim >	TDInputMatrix

typedef Eigen::Matrix< TScalar, TOutputDim, TStateDim >	TDOutputMatrix

typedef Eigen::Matrix< TScalar, TOutputDim, TInputDim >	TDFeedforwardMatrix

Public Member Functions
	StateSpace ()
	Default constructor.

	StateSpace (TDStateMatrix A, TDInputMatrix B, TDOutputMatrix C, TDOutputMatrix D)
	Construct a state space system with the given matrices. More...

template<typename DerivedA , typename DerivedB , typename DerivedC , typename DerivedD >
	StateSpace (const Eigen::EigenBase< DerivedA > &A, const Eigen::EigenBase< DerivedB > &B, const Eigen::EigenBase< DerivedC > &C, const Eigen::EigenBase< DerivedD > &D)

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

const TDStateMatrix &	getA () const
	Gets the state matrix. More...

void	setA (TDStateMatrix *A)
	Sets the state matrix. More...

template<typename Derived >
void	setA (Eigen::EigenBase< Derived > *A)

void	setA (const TDStateMatrix &A)
	Sets the state matrix. More...

template<typename Derived >
void	setA (const Eigen::EigenBase< Derived > &A)

const TDInputMatrix &	getB () const
	Gets the input matrix. More...

void	setB (TDInputMatrix *B)
	Sets the input matrix. More...

template<typename Derived >
void	setB (Eigen::EigenBase< Derived > *B)

void	setB (const TDInputMatrix &B)
	Sets the input matrix. More...

template<typename Derived >
void	setB (const Eigen::EigenBase< Derived > &B)

const TDOutputMatrix &	getC () const
	Gets the output matrix. More...

void	setC (TDOutputMatrix *C)
	Sets the output matrix. More...

template<typename Derived >
void	setC (Eigen::EigenBase< Derived > *C)

void	setC (const TDOutputMatrix &C)
	Sets the output matrix. More...

template<typename Derived >
void	setC (const Eigen::EigenBase< Derived > &C)

const TDFeedforwardMatrix &	getD () const
	Gets the feedforward matrix. More...

void	setD (TDFeedforwardMatrix *D)
	Sets the feedforward matrix. More...

template<typename Derived >
void	setD (Eigen::EigenBase< Derived > *D)

void	setD (const TDFeedforwardMatrix &D)
	Sets the feedforward matrix. More...

template<typename Derived >
void	setD (const Eigen::EigenBase< Derived > &D)

void	copyMatrices (const StateSpace &other)
	Copies matrices from one state space object to the current instance. More...

void	setDiscreteParams (double dt)
	Sets the discrete time system parameters. More...

void	setDiscreteParams (double dt, bool discrete)
	Sets the discrete time system parameters. More...

bool	isDiscrete () const
	Returns a bool that tells if the system is discrete. More...

double	getSamplingPeriod () const
	Returns the sampling period. More...

void	setSamplingPeriod (double dt)
	Sets the sampling period. More...

	stateDim () const
	Returns the state dimension. More...

long	stateDimDynamic () const

	stateDim () const

long	stateDimStatic () const

	inputDim () const
	Returns the input dimension. More...

long	inputDimDynamic () const

	inputDim () const

long	inputDimStatic () const

	outputDim () const
	Returns the output dimension. More...

long	outputDimDynamic () const

	outputDim () const

long	outputDimStatic () const

template<int TStateDim2, int TOutputDim2>
void	append (const StateSpace< TScalar, TStateDim2, TOutputDim, TOutputDim2 > &ss)
	Appends to state space systems. More...

bool	isStable (double tolerance=0) const
	Determines if the system is stable based on its eigenvalues. More...

template<typename T_TScalar = TScalar, const int T_TStateDim = TStateDim, const int T_TInputDim = TInputDim, const int T_TOutputDim = TOutputDim>
ls::systems::StateSpace< T_TScalar, LS_STATIC_UNLESS_DYNAMIC(T_TStateDim+T_TOutputDim), T_TInputDim, T_TOutputDim >	addIntegralAction (LS_IS_DYNAMIC_DEFAULT(T_TStateDim, T_TInputDim, T_TOutputDim)) const
	Returns a state space representation that adds integral action to the original system. More...

template<typename T_TScalar = TScalar, const int T_TStateDim = TStateDim, const int T_TInputDim = TInputDim, const int T_TOutputDim = TOutputDim>
ls::systems::StateSpace< T_TScalar, LS_STATIC_UNLESS_DYNAMIC(T_TStateDim+T_TOutputDim), T_TInputDim, T_TOutputDim >	addIntegralAction (LS_IS_STATIC_DEFAULT(T_TStateDim, T_TInputDim, T_TOutputDim)) const
	Returns a state space representation that adds integral action to the original system. More...

template<typename T_TScalar , const int T_TStateDim, const int T_TInputDim, const int T_TOutputDim>
ls::systems::StateSpace< T_TScalar, LS_STATIC_UNLESS_DYNAMIC(T_TStateDim+T_TOutputDim), T_TInputDim, T_TOutputDim >	addIntegralAction (LS_IS_DYNAMIC(T_TStateDim, T_TInputDim, T_TOutputDim)) const

template<typename T_TScalar , const int T_TStateDim, const int T_TInputDim, const int T_TOutputDim>
ls::systems::StateSpace< T_TScalar, LS_STATIC_UNLESS_DYNAMIC(T_TStateDim+T_TOutputDim), T_TInputDim, T_TOutputDim >	addIntegralAction (LS_IS_STATIC(T_TStateDim, T_TInputDim, T_TOutputDim)) const

Protected Attributes
TDStateMatrix *	A_

TDInputMatrix *	B_
	TState matrix.

TDOutputMatrix *	C_
	Input matrix.

TDFeedforwardMatrix *	D_
	Output matrix.

double	dt_
	Feedforward matrix.

bool	isDiscrete_
	Sampling period.

Constructor & Destructor Documentation

◆ StateSpace() [1/2]

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

ls::systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim >::StateSpace	(	TDStateMatrix *	A,
		TDInputMatrix *	B,
		TDOutputMatrix *	C,
		TDOutputMatrix *	D
	)

Construct a state space system with the given matrices.

Note: TState space systems are assumed to be in continuous time by default.

Parameters

A	Pointer to state matrix.
B	Pointer to input matrix.
C	Pointer to output matrix.
D	Pointer to feedforward matrix.

◆ StateSpace() [2/2]

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

ls::systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim >::StateSpace ( const StateSpace< TScalar, TStateDim, TInputDim, TOutputDim > & other )

Copy constructor.

Parameters

other TState space object to copy.

Member Function Documentation

◆ addIntegralAction() [1/2]

template<typename TScalar = double, const int TStateDim = Eigen::Dynamic, const int TInputDim = Eigen::Dynamic, const int TOutputDim = Eigen::Dynamic>

template<typename T_TScalar = TScalar, const int T_TStateDim = TStateDim, const int T_TInputDim = TInputDim, const int T_TOutputDim = TOutputDim>

ls::systems::StateSpace<T_TScalar, LS_STATIC_UNLESS_DYNAMIC( T_TStateDim + T_TOutputDim), T_TInputDim, T_TOutputDim> ls::systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim >::addIntegralAction ( LS_IS_DYNAMIC_DEFAULT(T_TStateDim, T_TInputDim, T_TOutputDim) ) const

Returns a state space representation that adds integral action to the original system.

For details on the discrete time case, see [1].

See also: D. D. Ruscio, “Discrete LQ optimal control with integral action: A simple controller on incremental form for MIMO systems,” MIC, vol. 33, no. 2, pp. 35–44, 2012, doi: 10.4173/mic.2012.2.1.

Note: This particular function gets called when the state space system is dynamic.

Template Parameters

T_TScalar	Copy of `TScalar`.
T_TStateDim	Copy of `TStateDim`.
T_TInputDim	Copy of `TInputDim`.
T_TOutputDim	Copy of `TOutputDim`.

Returns: State space system augmented with integral action.

◆ addIntegralAction() [2/2]

template<typename TScalar = double, const int TStateDim = Eigen::Dynamic, const int TInputDim = Eigen::Dynamic, const int TOutputDim = Eigen::Dynamic>

template<typename T_TScalar = TScalar, const int T_TStateDim = TStateDim, const int T_TInputDim = TInputDim, const int T_TOutputDim = TOutputDim>

ls::systems::StateSpace<T_TScalar, LS_STATIC_UNLESS_DYNAMIC( T_TStateDim + T_TOutputDim), T_TInputDim, T_TOutputDim> ls::systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim >::addIntegralAction ( LS_IS_STATIC_DEFAULT(T_TStateDim, T_TInputDim, T_TOutputDim) ) const

Returns a state space representation that adds integral action to the original system.

For details on the discrete time case, see [1].

See also: [1] D. D. Ruscio, “Discrete LQ optimal control with integral action: A simple controller on incremental form for MIMO systems,” MIC, vol. 33, no. 2, pp. 35–44, 2012, doi: 10.4173/mic.2012.2.1.

Note: This particular function gets called when the state space system is static.

Template Parameters

T_TScalar	Copy of `TScalar`.
T_TStateDim	Copy of `TStateDim`.
T_TInputDim	Copy of `TInputDim`.
T_TOutputDim	Copy of `TOutputDim`.

Returns: State space system augmented with integral action.

◆ append()

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

template<int TStateDim2, int TOutputDim2>

void ls::systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim >::append ( const StateSpace< TScalar, TStateDim2, TOutputDim, TOutputDim2 > & ss )

Appends to state space systems.

If the discrete time parameters do not match the current system, the input system is altered to match the current system.

Parameters

ss	TState space system to append.

◆ copyMatrices()

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

void ls::systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim >::copyMatrices ( const StateSpace< TScalar, TStateDim, TInputDim, TOutputDim > & other )

Copies matrices from one state space object to the current instance.

Parameters

ss	TState space object to copy matrices from.

◆ getA()

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

const ls::systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim >::TDStateMatrix & ls::systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim >::getA

Gets the state matrix.

Returns: TState matrix.

◆ getB()

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

const ls::systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim >::TDInputMatrix & ls::systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim >::getB

Gets the input matrix.

Returns: Input matrix.

◆ getC()

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

const ls::systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim >::TDOutputMatrix & ls::systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim >::getC

Gets the output matrix.

Returns: Output matrix.

◆ getD()

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

const ls::systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim >::TDFeedforwardMatrix & ls::systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim >::getD

Gets the feedforward matrix.

Returns: Feedforward matrix.

◆ getSamplingPeriod()

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

double ls::systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim >::getSamplingPeriod

inline

Returns the sampling period.

Returns: Sampling period.

◆ inputDim()

template<typename TScalar = double, const int TStateDim = Eigen::Dynamic, const int TInputDim = Eigen::Dynamic, const int TOutputDim = Eigen::Dynamic>

ls::systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim >::inputDim ( ) const

inline

Returns the input dimension.

Returns: Input dimension.

◆ isDiscrete()

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

bool ls::systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim >::isDiscrete

inline

Returns a bool that tells if the system is discrete.

Returns: True if the system is discrete.

◆ isStable()

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

bool ls::systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim >::isStable ( double tolerance = 0 ) const

inline

Determines if the system is stable based on its eigenvalues.

tolerance sets the stability margin that is taken into account during computation.

Parameters

tolerance Eigenvalue tolerance.

Returns: True if system is stable.

◆ outputDim()

template<typename TScalar = double, const int TStateDim = Eigen::Dynamic, const int TInputDim = Eigen::Dynamic, const int TOutputDim = Eigen::Dynamic>

ls::systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim >::outputDim ( ) const

inline

Returns the output dimension.

Returns: Output dimension

◆ setA() [1/2]

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

void ls::systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim >::setA ( const TDStateMatrix & A )

Sets the state matrix.

Parameters

A	TState matrix.

◆ setA() [2/2]

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

void ls::systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim >::setA ( TDStateMatrix * A )

Sets the state matrix.

Parameters

A	Pointer to state matrix.

◆ setB() [1/2]

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

void ls::systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim >::setB ( const TDInputMatrix & B )

Sets the input matrix.

Parameters

B	Input matrix.

◆ setB() [2/2]

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

void ls::systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim >::setB ( TDInputMatrix * B )

Sets the input matrix.

Parameters

B	Pointer to input matrix.

◆ setC() [1/2]

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

void ls::systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim >::setC ( const TDOutputMatrix & C )

Sets the output matrix.

Parameters

C	Output matrix.

◆ setC() [2/2]

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

void ls::systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim >::setC ( TDOutputMatrix * C )

Sets the output matrix.

Parameters

C	Pointer to output matrix.

◆ setD() [1/2]

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

void ls::systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim >::setD ( const TDFeedforwardMatrix & D )

Sets the feedforward matrix.

Parameters

D	Pointer to feedforward matrix.

◆ setD() [2/2]

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

void ls::systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim >::setD ( TDFeedforwardMatrix * D )

Sets the feedforward matrix.

Parameters

D	Feedforward matrix.

◆ setDiscreteParams() [1/2]

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

void ls::systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim >::setDiscreteParams ( double dt )

Sets the discrete time system parameters.

Parameters

dt	Sampling period.

◆ setDiscreteParams() [2/2]

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

void ls::systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim >::setDiscreteParams	(	double	dt,
		bool	discrete
	)

Sets the discrete time system parameters.

Parameters

dt	Sampling period.
discrete	If true, the system is treated as a discrete time system.

◆ setSamplingPeriod()

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

void ls::systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim >::setSamplingPeriod ( double dt )

Sets the sampling period.

Parameters

dt	Sampling period.

◆ stateDim()

template<typename TScalar = double, const int TStateDim = Eigen::Dynamic, const int TInputDim = Eigen::Dynamic, const int TOutputDim = Eigen::Dynamic>

ls::systems::StateSpace< TScalar, TStateDim, TInputDim, TOutputDim >::stateDim ( ) const

inline

Returns the state dimension.

Returns: TState dimension.

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

Lodestar/systems/StateSpace.hpp

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

Public Types

Public Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ StateSpace() [1/2]

◆ StateSpace() [2/2]

Member Function Documentation

◆ addIntegralAction() [1/2]

◆ addIntegralAction() [2/2]

◆ append()

◆ copyMatrices()

◆ getA()

◆ getB()

◆ getC()

◆ getD()

◆ getSamplingPeriod()

◆ inputDim()

◆ isDiscrete()

◆ isStable()

◆ outputDim()

◆ setA() [1/2]

◆ setA() [2/2]

◆ setB() [1/2]

◆ setB() [2/2]

◆ setC() [1/2]

◆ setC() [2/2]

◆ setD() [1/2]

◆ setD() [2/2]

◆ setDiscreteParams() [1/2]

◆ setDiscreteParams() [2/2]

◆ setSamplingPeriod()

◆ stateDim()