Matrix (A, B, C, D) representation of a linear time invariant system. More...

#include <controlpp/DiscreteStateSpace.hpp>

Public Types
using	value_type = ValueType

using	state_space_type = StateSpace< ValueType, internal_states, inputs, outputs >

using	A_matrix_type = typename state_space_type::A_matrix_type

using	B_matrix_type = typename state_space_type::B_matrix_type

using	C_matrix_type = typename state_space_type::C_matrix_type

using	D_matrix_type = typename state_space_type::D_matrix_type

Public Member Functions
	DiscreteStateSpace ()=default

	DiscreteStateSpace (const DiscreteStateSpace &)=default

DiscreteStateSpace &	operator= (const DiscreteStateSpace &)=default

	DiscreteStateSpace (const Eigen::Matrix< ValueType, internal_states, internal_states > &A, const Eigen::Matrix< ValueType, internal_states, inputs > &B, const Eigen::Matrix< ValueType, outputs, internal_states > &C, const Eigen::Matrix< ValueType, outputs, inputs > &D)

	DiscreteStateSpace (const state_space_type &state_space)

const state_space_type &	state_space () const

state_space_type &	state_space ()

std::tuple< Eigen::Vector< ValueType, internal_states >, Eigen::Vector< ValueType, outputs > >	eval (const Eigen::Vector< ValueType, internal_states > &x, const Eigen::Vector< ValueType, inputs > &u) const
	calculates the next states and calculates the output from the previous states and new inputs

template<std::convertible_to< ValueType > U> requires (inputs == 1 && outputs != 1)
std::tuple< Eigen::Vector< U, internal_states >, Eigen::Vector< U, outputs > >	eval (const Eigen::Vector< U, internal_states > &x, const U &u_scalar) const
	calculates the next states and calculates the output from the previous states and new inputs

template<std::convertible_to< ValueType > U> requires (inputs == 1 && outputs == 1)
std::tuple< Eigen::Vector< U, internal_states >, U >	eval (const Eigen::Vector< U, internal_states > &x, const U &u_scalar) const
	calculates the next states and calculates the output from the previous states and new inputs

A_matrix_type &	A ()

B_matrix_type &	B ()

C_matrix_type &	C ()

D_matrix_type &	D ()

const A_matrix_type &	A () const

const B_matrix_type &	B () const

const C_matrix_type &	C () const

const D_matrix_type &	D () const

Static Public Attributes
static constexpr int	number_of_states = internal_states

static constexpr int	number_of_inputs = inputs

static constexpr int	number_of_outputs = outputs

Friends
std::ostream &	operator<< (std::ostream &stream, const DiscreteStateSpace &dss)

Detailed Description

template<class ValueType, int internal_states, int inputs, int outputs>
class controlpp::DiscreteStateSpace< ValueType, internal_states, inputs, outputs >

Matrix (A, B, C, D) representation of a linear time invariant system.

\[ \hat{x} = \mathbf{A} x + \mathbf{B} u \]

\[ y = \mathbf{C} x + \mathbf{D} u \]

u is the input
x are the internal states
y is the output

This is only a representation using the A, B, C, D matrices. This does not contain an internal state. You may use the .eval() method, but have to provide the state manually.

If you want a system with internal state have a look at: DssFilter.

This is a type wrapper around controlpp::StateSpace

See also: controlpp::StateSpace; controlpp::DiscreteTransferFunction; controlpp::DssFilter

Template Parameters

ValueType	The value type of the matrix elements and arithmetic calculations (usually `double` or `float`)
internal_states	The number of internal states, this influences the size of the A, B and C matrices
inputs	The number of input to the system, this influences the size of the B and D matrix
outputs	The number of outputs of the system, this influences the size of the C and D matrix

Member Typedef Documentation

◆ A_matrix_type

template<class ValueType , int internal_states, int inputs, int outputs>

using controlpp::DiscreteStateSpace< ValueType, internal_states, inputs, outputs >::A_matrix_type = typename state_space_type::A_matrix_type

◆ B_matrix_type

template<class ValueType , int internal_states, int inputs, int outputs>

using controlpp::DiscreteStateSpace< ValueType, internal_states, inputs, outputs >::B_matrix_type = typename state_space_type::B_matrix_type

◆ C_matrix_type

template<class ValueType , int internal_states, int inputs, int outputs>

using controlpp::DiscreteStateSpace< ValueType, internal_states, inputs, outputs >::C_matrix_type = typename state_space_type::C_matrix_type

◆ D_matrix_type

template<class ValueType , int internal_states, int inputs, int outputs>

using controlpp::DiscreteStateSpace< ValueType, internal_states, inputs, outputs >::D_matrix_type = typename state_space_type::D_matrix_type

◆ state_space_type

template<class ValueType , int internal_states, int inputs, int outputs>

using controlpp::DiscreteStateSpace< ValueType, internal_states, inputs, outputs >::state_space_type = StateSpace<ValueType, internal_states, inputs, outputs>

◆ value_type

template<class ValueType , int internal_states, int inputs, int outputs>

using controlpp::DiscreteStateSpace< ValueType, internal_states, inputs, outputs >::value_type = ValueType

Constructor & Destructor Documentation

◆ DiscreteStateSpace() [1/4]

template<class ValueType , int internal_states, int inputs, int outputs>

controlpp::DiscreteStateSpace< ValueType, internal_states, inputs, outputs >::DiscreteStateSpace ( )

default

◆ DiscreteStateSpace() [2/4]

template<class ValueType , int internal_states, int inputs, int outputs>

controlpp::DiscreteStateSpace< ValueType, internal_states, inputs, outputs >::DiscreteStateSpace ( const DiscreteStateSpace< ValueType, internal_states, inputs, outputs > & )

default

◆ DiscreteStateSpace() [3/4]

template<class ValueType , int internal_states, int inputs, int outputs>

controlpp::DiscreteStateSpace< ValueType, internal_states, inputs, outputs >::DiscreteStateSpace	(	const Eigen::Matrix< ValueType, internal_states, internal_states > &	A,
		const Eigen::Matrix< ValueType, internal_states, inputs > &	B,
		const Eigen::Matrix< ValueType, outputs, internal_states > &	C,
		const Eigen::Matrix< ValueType, outputs, inputs > &	D
	)

inline

◆ DiscreteStateSpace() [4/4]

template<class ValueType , int internal_states, int inputs, int outputs>

controlpp::DiscreteStateSpace< ValueType, internal_states, inputs, outputs >::DiscreteStateSpace ( const state_space_type & state_space )

inline

Member Function Documentation

◆ A() [1/2]

template<class ValueType , int internal_states, int inputs, int outputs>

A_matrix_type & controlpp::DiscreteStateSpace< ValueType, internal_states, inputs, outputs >::A ( )

inline

◆ A() [2/2]

template<class ValueType , int internal_states, int inputs, int outputs>

const A_matrix_type & controlpp::DiscreteStateSpace< ValueType, internal_states, inputs, outputs >::A ( ) const

inline

◆ B() [1/2]

template<class ValueType , int internal_states, int inputs, int outputs>

B_matrix_type & controlpp::DiscreteStateSpace< ValueType, internal_states, inputs, outputs >::B ( )

inline

◆ B() [2/2]

template<class ValueType , int internal_states, int inputs, int outputs>

const B_matrix_type & controlpp::DiscreteStateSpace< ValueType, internal_states, inputs, outputs >::B ( ) const

inline

◆ C() [1/2]

template<class ValueType , int internal_states, int inputs, int outputs>

C_matrix_type & controlpp::DiscreteStateSpace< ValueType, internal_states, inputs, outputs >::C ( )

inline

◆ C() [2/2]

template<class ValueType , int internal_states, int inputs, int outputs>

const C_matrix_type & controlpp::DiscreteStateSpace< ValueType, internal_states, inputs, outputs >::C ( ) const

inline

◆ D() [1/2]

template<class ValueType , int internal_states, int inputs, int outputs>

D_matrix_type & controlpp::DiscreteStateSpace< ValueType, internal_states, inputs, outputs >::D ( )

inline

◆ D() [2/2]

template<class ValueType , int internal_states, int inputs, int outputs>

const D_matrix_type & controlpp::DiscreteStateSpace< ValueType, internal_states, inputs, outputs >::D ( ) const

inline

◆ eval() [1/3]

template<class ValueType , int internal_states, int inputs, int outputs>

template<std::convertible_to< ValueType > U>
requires (inputs == 1 && outputs != 1)

std::tuple< Eigen::Vector< U, internal_states >, Eigen::Vector< U, outputs > > controlpp::DiscreteStateSpace< ValueType, internal_states, inputs, outputs >::eval	(	const Eigen::Vector< U, internal_states > &	x,
		const U &	u_scalar
	)		const

inline

calculates the next states and calculates the output from the previous states and new inputs

Returns: a tuple of [nest_states, output]

◆ eval() [2/3]

template<class ValueType , int internal_states, int inputs, int outputs>

template<std::convertible_to< ValueType > U>
requires (inputs == 1 && outputs == 1)

std::tuple< Eigen::Vector< U, internal_states >, U > controlpp::DiscreteStateSpace< ValueType, internal_states, inputs, outputs >::eval	(	const Eigen::Vector< U, internal_states > &	x,
		const U &	u_scalar
	)		const

inline

calculates the next states and calculates the output from the previous states and new inputs

Returns: a tuple of [nest_states, output]

◆ eval() [3/3]

template<class ValueType , int internal_states, int inputs, int outputs>

std::tuple< Eigen::Vector< ValueType, internal_states >, Eigen::Vector< ValueType, outputs > > controlpp::DiscreteStateSpace< ValueType, internal_states, inputs, outputs >::eval	(	const Eigen::Vector< ValueType, internal_states > &	x,
		const Eigen::Vector< ValueType, inputs > &	u
	)		const

inline

calculates the next states and calculates the output from the previous states and new inputs

Returns: a tuple of [nest_states, output]

◆ operator=()

template<class ValueType , int internal_states, int inputs, int outputs>

DiscreteStateSpace & controlpp::DiscreteStateSpace< ValueType, internal_states, inputs, outputs >::operator= ( const DiscreteStateSpace< ValueType, internal_states, inputs, outputs > & )

default

◆ state_space() [1/2]

template<class ValueType , int internal_states, int inputs, int outputs>

state_space_type & controlpp::DiscreteStateSpace< ValueType, internal_states, inputs, outputs >::state_space ( )

inline

◆ state_space() [2/2]

template<class ValueType , int internal_states, int inputs, int outputs>

const state_space_type & controlpp::DiscreteStateSpace< ValueType, internal_states, inputs, outputs >::state_space ( ) const

inline

Friends And Related Symbol Documentation

◆ operator<<

template<class ValueType , int internal_states, int inputs, int outputs>

std::ostream & operator<<	(	std::ostream &	stream,
		const DiscreteStateSpace< ValueType, internal_states, inputs, outputs > &	dss
	)

friend

Member Data Documentation

◆ number_of_inputs

template<class ValueType , int internal_states, int inputs, int outputs>

constexpr int controlpp::DiscreteStateSpace< ValueType, internal_states, inputs, outputs >::number_of_inputs = inputs

staticconstexpr

◆ number_of_outputs

template<class ValueType , int internal_states, int inputs, int outputs>

constexpr int controlpp::DiscreteStateSpace< ValueType, internal_states, inputs, outputs >::number_of_outputs = outputs

staticconstexpr

◆ number_of_states

template<class ValueType , int internal_states, int inputs, int outputs>

constexpr int controlpp::DiscreteStateSpace< ValueType, internal_states, inputs, outputs >::number_of_states = internal_states

staticconstexpr

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

include/controlpp/DiscreteStateSpace.hpp

Public Types

Public Member Functions

Static Public Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ A_matrix_type

◆ B_matrix_type

◆ C_matrix_type

◆ D_matrix_type

◆ state_space_type

◆ value_type

Constructor & Destructor Documentation

◆ DiscreteStateSpace() [1/4]

◆ DiscreteStateSpace() [2/4]

◆ DiscreteStateSpace() [3/4]

◆ DiscreteStateSpace() [4/4]

Member Function Documentation

◆ A() [1/2]

◆ A() [2/2]

◆ B() [1/2]

◆ B() [2/2]

◆ C() [1/2]

◆ C() [2/2]

◆ D() [1/2]

◆ D() [2/2]

◆ eval() [1/3]

◆ eval() [2/3]

◆ eval() [3/3]

◆ operator=()

◆ state_space() [1/2]

◆ state_space() [2/2]

Friends And Related Symbol Documentation

◆ operator<<

Member Data Documentation

◆ number_of_inputs

◆ number_of_outputs

◆ number_of_states