Controller Class Reference

Abstract controller with per-channel reference values. More...

#include <Controller.h>

Inheritance diagram for Controller:

Collaboration diagram for Controller:

Public Member Functions
	Controller (const std::string &symbol, const vector< double > &value, int number_signals, std::vector< double > refs={ 0 })
	Construct a controller with reference setpoints.
virtual Eigen::VectorXd	define_equations (const Eigen::VectorXd &x, const Eigen::VectorXd &u, const Eigen::VectorXd &c)
	Controller dynamics for vector states and signals.
virtual Eigen::VectorXd	define_equations (const double x, const double u, const double c)
	Controller dynamics for scalar state and signals.
virtual void	printValues () override
	Print reference values to standard output.
void	setReference (const std::vector< double > &ref)
	Replace all reference setpoints.
void	setReference (const double ref, int i)
	Set one reference channel.
std::vector< double >	getReference () const
	Return a copy of the current reference vector.
std::string	getControllerSymbol () const
	Return the controller symbol/name.
int	getNumberOfSignals () const
	Return the number of control channels.
virtual vector< double >	getParameters () const
	Return controller-specific parameters (implemented by subclasses).
virtual void	setParameters (const vector< double > &params)
	Set controller-specific parameters (implemented by subclasses).
virtual	~Controller ()=default

Protected Attributes
std::string	controller_symbol
bool	active = false
std::vector< double >	reference

Detailed Description

Abstract controller with per-channel reference values.

Subclasses implement define_equations and store gain parameters.

Constructor & Destructor Documentation

Controller()

Controller::Controller ( const std::string &  symbol, const vector< double > &  value, int  number_signals, std::vector< double >  refs = { 0 }  )

inline

Construct a controller with reference setpoints.

Parameters

symbol	Controller symbol/name.
value	Gain parameter vector (interpreted by derived classes).
number_signals	Number of control channels.
refs	Reference values per channel (default zero).

~Controller()

virtual Controller::~Controller ( )

virtualdefault

Member Function Documentation

define_equations() [1/2]

virtual Eigen::VectorXd Controller::define_equations ( const double  x, const double  u, const double  c  )

inlinevirtual

Controller dynamics for scalar state and signals.

Parameters

x	Integrator or auxiliary state.
u	Measured input value.
c	Feed-forward or constant output value.

Returns

Concatenated state derivative and controller output.

Reimplemented in ProportionalController, and ProportionalIntegralController.

define_equations() [2/2]

virtual Eigen::VectorXd Controller::define_equations ( const Eigen::VectorXd &  x, const Eigen::VectorXd &  u, const Eigen::VectorXd &  c  )

inlinevirtual

Controller dynamics for vector states and signals.

Parameters

x	Integrator or auxiliary state vector.
u	Measured input vector.
c	Feed-forward or constant output vector.

Returns

Concatenated state derivatives and controller outputs.

Reimplemented in ProportionalController, and ProportionalIntegralController.

getControllerSymbol()

std::string Controller::getControllerSymbol ( ) const

inline

Return the controller symbol/name.

References controller_symbol.

getNumberOfSignals()

int Controller::getNumberOfSignals ( ) const

inline

Return the number of control channels.

References reference.

getParameters()

virtual vector< double > Controller::getParameters ( ) const

inlinevirtual

Return controller-specific parameters (implemented by subclasses).

Reimplemented in ProportionalController, and ProportionalIntegralController.

References reference.

getReference()

std::vector< double > Controller::getReference ( ) const

inline

Return a copy of the current reference vector.

References reference.

printValues()

virtual void Controller::printValues ( )

inlineoverridevirtual

Print reference values to standard output.

Reimplemented from ControlBlock.

Reimplemented in ProportionalController, and ProportionalIntegralController.

References reference.

Referenced by MMC::printElementValues().

setParameters()

virtual void Controller::setParameters ( const vector< double > &  params )

inlinevirtual

Set controller-specific parameters (implemented by subclasses).

Parameters

params

Parameter vector.

Reimplemented in ProportionalController, and ProportionalIntegralController.

setReference() [1/2]

void Controller::setReference ( const double  ref, int  i  )

inline

Set one reference channel.

Parameters

ref	New reference value.
i	Channel index.

References reference.

setReference() [2/2]

void Controller::setReference ( const std::vector< double > &  ref )

inline

Replace all reference setpoints.

Parameters

ref	New reference vector.

References reference.

Member Data Documentation

active

bool Controller::active = false

protected

controller_symbol

std::string Controller::controller_symbol

protected

Referenced by getControllerSymbol().

reference

std::vector<double> Controller::reference

protected

Referenced by ProportionalController::define_equations(), ProportionalIntegralController::define_equations(), ProportionalController::define_equations(), ProportionalIntegralController::define_equations(), getNumberOfSignals(), getParameters(), getReference(), printValues(), ProportionalController::printValues(), ProportionalIntegralController::printValues(), setReference(), and setReference().

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

• harmony/src/Control/Controller/Controller.h