NextControl/dev.nextftc.control.model/LinearModel

LinearModel

class LinearModel<State : Nat, Input : Nat, Output : Nat> @JvmOverloads constructor(val A: Matrix<State, State>, val B: Matrix<State, Input>, val C: Matrix<Output, State>, val D: Matrix<Output, Input>, val dt: Double = 0.05) : Model<State, Input, Output> (source)

Constructors

constructor(A: Matrix<State, State>, B: Matrix<State, Input>, C: Matrix<Output, State>, D: Matrix<Output, Input>, dt: Double = 0.05)

Properties

val A: Matrix<State, State>

val B: Matrix<State, Input>

val C: Matrix<Output, State>

val D: Matrix<Output, Input>

Functions

open override fun derivative(state: Vector<State>, input: Vector<Input>): Vector<State>

open override fun output(state: Vector<State>, input: Vector<Input>): Vector<Output>