ldsCtrlEst_h/lds_poisson_ctrl.h #

//===-- ldsCtrlEst_h/lds_poisson_ctrl.h - PLDS Controller -------*- C++ -*-===//
//
// Copyright 2021 Michael Bolus
// Copyright 2021 Georgia Institute of Technology
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
//===----------------------------------------------------------------------===//
//===----------------------------------------------------------------------===//

#ifndef LDSCTRLEST_LDS_POISSON_CTRL_H
#define LDSCTRLEST_LDS_POISSON_CTRL_H

// namespace
#include "lds_poisson.h"
// system type
#include "lds_poisson_sys.h"
// control type
#include "lds_ctrl.h"

namespace lds {
namespace poisson {
class Controller : public lds::Controller<System> {
 public:
  void set_y_ref(const Vector& y_ref) override {
    Reassign(y_ref_, y_ref);
    lds::Limit(y_ref_, kYRefLb, lds::kInf);
    cx_ref_ = log(y_ref_) - sys_.d();
  };

  // make sure base class template methods available
  using lds::Controller<System>::Controller;
  using lds::Controller<System>::Control;
  using lds::Controller<System>::ControlOutputReference;

  using lds::Controller<System>::sys;
  using lds::Controller<System>::Kc;
  using lds::Controller<System>::Kc_inty;
  using lds::Controller<System>::Kc_u;
  using lds::Controller<System>::g_design;
  using lds::Controller<System>::u_ref;
  using lds::Controller<System>::x_ref;
  using lds::Controller<System>::y_ref;
  using lds::Controller<System>::control_type;

  using lds::Controller<System>::set_sys;
  using lds::Controller<System>::set_g_design;
  using lds::Controller<System>::set_u_ref;
  using lds::Controller<System>::set_x_ref;
  using lds::Controller<System>::set_y_ref;
  using lds::Controller<System>::set_Kc;
  using lds::Controller<System>::set_Kc_inty;
  using lds::Controller<System>::set_Kc_u;
  using lds::Controller<System>::set_tau_awu;
  using lds::Controller<System>::set_control_type;

  using lds::Controller<System>::Reset;
  using lds::Controller<System>::Print;

 private:
  constexpr static const data_t kYRefLb =
      1e-4;  
};
}  // namespace poisson
}  // namespace lds

#endif