Controlpp

A C++ library for control systems: from classic transfer-function workflows to state-space, estimators, and optimal control. Design continuous or discrete controllers, run time-variant logic, and bring in LQR, Kalman filtering, and even H₂ synthesis building blocks.

• Documentation: https://tobiaswallner.github.io/Controlpp/
• GitHub Repository: https://github.com/TobiasWallner/Controlpp

Features:

• Performance Supports Vectorisation for: SSE2, SSE3, SSE4, AVX, AVX2, AVX512, AltiVec/VSX, ARM NEON and now S390x SIMD (ZVector) through the Eigen library.
• Classical Control, Transfer Functions and State Space
  Work directly with continuous and discrete transfer functions, numerator/denominator polynomials, zeros/poles, and conversions from and to state space realisations.
• Time-Variant Controllers
  Have high jitter or changing sampling rates? E.g.: Controlling with a sensor (e.g.: camera) that changes its frame rate? The time variant controllers offer you two inputs: the value and the sample-time.
• Modern Controllers & Optimal Control
  Includes linear-quadratic controller support and estimation tooling (LQR / Kalman), with room to extend into H2/H-inf synthesis.
• Identification & Estimation Recursive Least Squares and Kalman filters to estimate parameters and states, ready to slot into your controller pipelines.

Quick start

CMake and CPM.cmake

Read more about CMake (build file generator) CPM.cmake (package manager) here.

# include the package manager
include(cmake/CPM.cmake)
 
# add the package
CPMAddPackage("gh:TobiasWallner/Controlpp#v1.5.0")
 
# create your project executable
add_executable(my_app src/main.cpp)
 
# link the library
target_link_libraries(my_app PRIVATE controlpp)

Example:

#include <controlpp.hpp>
 
int main(){
    const auto s = controlpp::tf::s<float>;
 
    // define a PT2 element:
    const float f = 1000;
    const float omega = 2 * 3.1415 * f;
    const float D = 0.3;
    const auto PT2_s = 
                               1 
      / //-------------------------------------------------
      (1 + (2 * D * s / omega) + (s * s) / (omega * omega));
 
    // convert from transfer function to state space
    const auto PT2_ss = to_state_space(PT2_s);
 
    // convert from s (continuous) to z (discrete) domain
    const float Ts = 1.0/10'000.0;
    const auto PT2_z = discretise_zoh(PT2_ss, Ts);
}