lds::gaussian::SwitchedController #

Gaussian-observation SwitchedController Type.
#include <lds_gaussian_sctrl.h>

Inherits from lds::SwitchedController< System >, lds::Controller< System >

Public Functions #

	Name
virtual void	set_y_ref(const Vector & y_ref) override sets reference output

Additional inherited members #

Public Functions inherited from lds::SwitchedController< System >

	Name
	SwitchedController() =default Constructs a new SwitchedController.
	SwitchedController(const std::vector< System > & systems, data_t u_lb, data_t u_ub, size_t control_type =0) Constructs a new SwitchedController.
	SwitchedController(std::vector< System > && systems, data_t u_lb, data_t u_ub, size_t control_type =0) Constructs a new SwitchedController (moves systems).
void	Switch(size_t idx, bool do_force_switch =false) Switch to a different sub-system/controller.
void	set_Kc(const UniformMatrixList<> & Kc) sets state feedback gains
void	set_Kc(UniformMatrixList<> && Kc) sets state feedback gains (moving)
void	set_Kc_inty(const UniformMatrixList<> & Kc_inty) sets integral feedback gains
void	set_Kc_inty(UniformMatrixList<> && Kc_inty) sets integral feedback gains (moving)
void	set_Kc_u(const UniformMatrixList<> & Kc_u) sets input feedback gains
void	set_Kc_u(UniformMatrixList<> && Kc_u) sets input feedback gains (moving)
void	set_g_design(const UniformVectorList & g) sets input gain used during controller design
void	set_g_design(UniformVectorList && g) sets input gain used during controller design (moving)

Protected Attributes inherited from lds::SwitchedController< System >

	Name
std::vector< System >	systems_ underlying sub-systems which are switched between
size_t	n_sys_ number of systems
size_t	idx_ current system/controller index.
UniformMatrixList	Kc_list_
UniformMatrixList	Kc_inty_list_
UniformMatrixList	Kc_u_list_
UniformVectorList	g_design_list_

Public Functions inherited from lds::Controller< System >

	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)
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 inherited from lds::Controller< System >

	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

Public Function Details #

set_y_ref #

inline virtual void set_y_ref(
    const Vector & y_ref
) override

Reimplements: lds::Controller::set_y_ref

Updated on 19 May 2022 at 17:16:04 Eastern Daylight Time