control::system::ss< T, Nx, Nu, Ny > Class Template Reference

#include <ss.h>

Public Types
using	Tx = Eigen::Matrix< T, Nx, 1 >
using	Tu = Eigen::Matrix< T, Nu, 1 >
using	Ty = Eigen::Matrix< T, Ny, 1 >
using	TA = Eigen::Matrix< T, Nx, Nx >
using	TB = Eigen::Matrix< T, Nx, Nu >
using	TC = Eigen::Matrix< T, Ny, Nx >
using	TD = Eigen::Matrix< T, Ny, Nu >

Public Member Functions
	ss (TA A, TB B, TC C, TD D)
Ty	step (Tu u)

Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Tx	x
Ty	y

Detailed Description

template<typename T, size_t Nx, size_t Nu = 1, size_t Ny = 1>
class control::system::ss< T, Nx, Nu, Ny >

State-space

Discretizes LTI (MIMO) state-space system. Based upon Eigen matrix math lib. Uses fixed-size matrices and vectorization.

Template Parameters

T	storage-type
Nx	number of states
Nu	number of inputs
Ny	number of outputs

Constructor & Destructor Documentation

ss()

template<typename T , size_t Nx, size_t Nu = 1, size_t Ny = 1>

control::system::ss< T, Nx, Nu, Ny >::ss ( TA  A, TB  B, TC  C, TD  D  )

inline

Construct a new SS and initialize the output and state to zero

Parameters

TA	A state-transfer matrix
TB	B input matrix
TC	C output matrix
TD	D feed-through matrix

Member Function Documentation

step()

template<typename T , size_t Nx, size_t Nu = 1, size_t Ny = 1>

Ty control::system::ss< T, Nx, Nu, Ny >::step ( Tu  u )

inline

Step the system

Parameters

Tu

u input

Returns

Ty output

---

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

• include/control/system/ss.h