Package-level declarations
Feedback controllers: PIDController for classic PID, and LQRController, which solves the discrete algebraic Riccati equation to find an optimal gain matrix.
Types
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class LQRController<States : Nat, Inputs : Nat, Outputs : Nat> @JvmOverloads constructor(A: Matrix<States, States>, B: Matrix<States, Inputs>, Q: Matrix<States, States>, R: Matrix<Inputs, Inputs>, dt: Double = 0.05)
A Linear Quadratic Regulator (LQR) for controlling a system modeled by state-space equations.
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data class PIDCoefficients @JvmOverloads constructor(var kP: Double, var kI: Double = 0.0, var kD: Double = 0.0)
Coefficients for a PID Controller/
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class PIDController @JvmOverloads constructor(val coefficients: PIDCoefficients, val resetIntegralOnZeroCrossover: Boolean = true)
Traditional proportional-integral-derivative controller.