lds::Controller

lds::Controller #

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Inherited by lds::gaussian::Controller, lds::poisson::Controller, lds::SwitchedController< System >

Public Functions #

Name
Controller() =default
Constructs a new Controller.
Controller(const System & sys, data_t u_lb, data_t u_ub, size_t control_type =0)
Constructs a new Controller.
Controller(System && sys, data_t u_lb, data_t u_ub, size_t control_type =0)
Constructs a new Controller by moving the system object.
const Vector & Control(const Vector & z, bool do_control =true, bool do_lock_control =false, data_t sigma_soft_start =0, data_t sigma_u_noise =0, bool do_reset_at_control_onset =true)
updates control signal (single-step)
const Vector & ControlOutputReference(const Vector & z, bool do_control =true, bool do_estimation =true, bool do_lock_control =false, data_t sigma_soft_start =0, data_t sigma_u_noise =0, bool do_reset_at_control_onset =true)
updates control signal, given previously-set (single-step)
const System & sys() const
const Matrix & Kc() const
Get state feedback controller gain.
const Matrix & Kc_inty() const
Get integral controller gain.
const Matrix & Kc_u() const
Get input feedback controller gain.
const Vector & g_design() const
Get input gain used in controller design.
const Vector & u_ref() const
Get reference input.
const Vector & x_ref() const
Get reference state.
const Vector & y_ref() const
Get reference output.
size_t control_type() const
Get controller type.
data_t tau_awu() const
Get time constant of anti-integral-windup.
data_t u_lb() const
Get control lower bound.
data_t u_ub() const
Get control upper bound.
void set_sys(const System & sys)
Set system.
void set_g_design(const Vector & g_design)
Set input gain used in controller design (g_design)
void set_u_ref(const Vector & u_ref)
Set reference input (u_ref)
void set_x_ref(const Vector & x_ref)
Set reference state (x_ref)
virtual void set_y_ref(const Vector & y_ref)
Set reference output (y_ref)
void set_Kc(const Matrix & Kc)
Set state controller gain.
void set_Kc_inty(const Matrix & Kc_inty)
Set integral controller gain.
void set_Kc_u(const Matrix & Kc_u)
Set input controller gain.
void set_tau_awu(data_t tau)
Set time constant of anti-integral-windup.
void set_control_type(size_t control_type)
Sets the control type.
void set_u_lb(data_t u_lb)
sets control lower bound
void set_u_ub(data_t u_ub)
Sets control upper bound.
void Reset()
reset system and control variables.
void Print()
prints variables to stdout

Protected Attributes #

Name
System sys_
underlying LDS
Vector u_
control signal
Vector u_return_
control signal that is returned to user
Vector g_design_
input gain of the system used for controller design
Vector u_ref_
reference input
Vector u_ref_prev_
reference input at previous time step
Vector x_ref_
reference state
Vector y_ref_
reference output
Vector cx_ref_
Matrix Kc_
state controller gain
Matrix Kc_u_
input controller gain (optional when control updates )
Matrix Kc_inty_
integral controller gain
Vector du_ref_
Vector dv_ref_
Vector v_ref_
Vector dv_
Vector v_
Control after g inversion (e.g., control in physical units)
Vector int_e_
integrated error
Vector int_e_awu_adjust_
anti-windup adjustment to intE
Vector u_sat_
control signal after saturation (for antiWindup)
bool do_control_prev_
bool do_lock_control_prev_
bool u_saturated_
whether control signal has reached saturation limits
data_t u_lb_
lower bound on control
data_t u_ub_
upper bound on control
data_t tau_awu_
antiwindup time constant
data_t k_awu_
data_t t_since_control_onset_
time since control epoch onset
size_t control_type_
controller type

Detailed Description # 

template <typename System >
class lds::Controller;

Public Function Details #

Controller # 

Controller() =default

Controller # 

inline Controller(
    const System & sys,
    data_t u_lb,
    data_t u_ub,
    size_t control_type =0
)

Parameters:

  • sys System (derived from lds::System)
  • u_lb lower bound on control (u)
  • u_ub upper bound on control (u)
  • control_type [optional] control type bit mask

Template Parameters:

Controller # 

inline Controller(
    System && sys,
    data_t u_lb,
    data_t u_ub,
    size_t control_type =0
)

Parameters:

  • sys System (derived from lds::System)
  • u_lb lower bound on control (u)
  • u_ub upper bound on control (u)
  • control_type [optional] control type bit mask

Template Parameters:

Control # 

inline const Vector & Control(
    const Vector & z,
    bool do_control =true,
    bool do_lock_control =false,
    data_t sigma_soft_start =0,
    data_t sigma_u_noise =0,
    bool do_reset_at_control_onset =true
)

Parameters:

  • z measurement
  • do_control [optional] whether to update control (true) or simply feed through u_ref (false)
  • do_lock_control [optional] whether to lock control at its current value
  • sigma_soft_start [optional] standard deviation (sigma) of a Gaussian soft-start to control (do_control from false to true)
  • sigma_u_noise [optional] standard deviation (sigma) of Gaussian noise added on top of control signal
  • do_reset_at_control_onset [optional] whether to reset controller at control epoch onset (i.e., do_control from false to true)

Return: updated control signal

Updates the control signal (single-step). This is the most flexible option, but requires user to have set the controller’s y_ref, x_ref, and u_ref variables.

ControlOutputReference # 

inline const Vector & ControlOutputReference(
    const Vector & z,
    bool do_control =true,
    bool do_estimation =true,
    bool do_lock_control =false,
    data_t sigma_soft_start =0,
    data_t sigma_u_noise =0,
    bool do_reset_at_control_onset =true
)

Parameters:

  • z measurement
  • do_control [optional] whether to update control (true) or simply feed through u_ref (false)
  • do_estimation [optional] whether to update state estimate (if false, effectively open-loop control)
  • do_lock_control [optional] whether to lock control at its current value
  • sigma_soft_start [optional] standard deviation (sigma) of a Gaussian soft-start to control (do_control from false to true)
  • sigma_u_noise [optional] standard deviation (sigma) of Gaussian noise added on top of control signal
  • do_reset_at_control_onset [optional] whether to reset controller at control epoch onset (i.e., do_control from false to true)

Return: updated control signal

Updates the control signal (single-step), given previously-set y_ref. This method calculates the rest of the set point (u_ref, x_ref) that is required to for the system to be at y_ref at steady state. This is accomplished by linearly-constrained least-squares. For a single-output system, the solution should be exact within control saturation limits. For a multi-output system, it provides the least-squares comprimise across the outputs.

sys # 

inline const System & sys() const

Kc # 

inline const Matrix & Kc() const

Kc_inty # 

inline const Matrix & Kc_inty() const

Kc_u # 

inline const Matrix & Kc_u() const

g_design # 

inline const Vector & g_design() const

u_ref # 

inline const Vector & u_ref() const

x_ref # 

inline const Vector & x_ref() const

y_ref # 

inline const Vector & y_ref() const

control_type # 

inline size_t control_type() const

tau_awu # 

inline data_t tau_awu() const

u_lb # 

inline data_t u_lb() const

u_ub # 

inline data_t u_ub() const

set_sys # 

inline void set_sys(
    const System & sys
)

set_g_design # 

inline void set_g_design(
    const Vector & g_design
)

set_u_ref # 

inline void set_u_ref(
    const Vector & u_ref
)

set_x_ref # 

inline void set_x_ref(
    const Vector & x_ref
)

set_y_ref # 

inline virtual void set_y_ref(
    const Vector & y_ref
)

Reimplemented by: lds::poisson::SwitchedController::set_y_ref, lds::gaussian::SwitchedController::set_y_ref, lds::poisson::Controller::set_y_ref, lds::gaussian::Controller::set_y_ref

set_Kc # 

inline void set_Kc(
    const Matrix & Kc
)

set_Kc_inty # 

inline void set_Kc_inty(
    const Matrix & Kc_inty
)

set_Kc_u # 

inline void set_Kc_u(
    const Matrix & Kc_u
)

set_tau_awu # 

inline void set_tau_awu(
    data_t tau
)

set_control_type # 

inline void set_control_type(
    size_t control_type
)

Parameters:

  • control_type control type bit mask

Template Parameters:

set_u_lb # 

inline void set_u_lb(
    data_t u_lb
)

Parameters:

  • u_lb control lower bound

set_u_ub # 

inline void set_u_ub(
    data_t u_ub
)

Parameters:

  • u_ub control upper bound

Reset # 

inline void Reset()

Print # 

inline void Print()

Protected Attribute Details #

**sys_** # 

System sys_;

**u_** # 

Vector u_;

**u_return_** # 

Vector u_return_;

**g_design_** # 

Vector g_design_;

**u_ref_** # 

Vector u_ref_;

**u_ref_prev_** # 

Vector u_ref_prev_;

**x_ref_** # 

Vector x_ref_;

**y_ref_** # 

Vector y_ref_;

**cx_ref_** # 

Vector cx_ref_;

**Kc_** # 

Matrix Kc_;

**Kc_u_** # 

Matrix Kc_u_;

**Kc_inty_** # 

Matrix Kc_inty_;

**du_ref_** # 

Vector du_ref_;

**dv_ref_** # 

Vector dv_ref_;

**v_ref_** # 

Vector v_ref_;

**dv_** # 

Vector dv_;

**v_** # 

Vector v_;

**int_e_** # 

Vector int_e_;

**int_e_awu_adjust_** # 

Vector int_e_awu_adjust_;

**u_sat_** # 

Vector u_sat_;

**do_control_prev_** # 

bool do_control_prev_ = false;

**do_lock_control_prev_** # 

bool do_lock_control_prev_ = false;

**u_saturated_** # 

bool u_saturated_ =
      false;

**u_lb_** # 

data_t u_lb_ {};

**u_ub_** # 

data_t u_ub_ {};

**tau_awu_** # 

data_t tau_awu_ {};

**k_awu_** # 

data_t k_awu_ = 0;

**t_since_control_onset_** # 

data_t t_since_control_onset_ = 0;

**control_type_** # 

size_t control_type_ {};

Updated on 19 May 2022 at 17:16:03 Eastern Daylight Time