Alex Pirciu / Mbed 2 deprecated BFMC

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include/SystemModels/systemmodels.hpp@1:ceee5a608e7c, 2019-03-28 (annotated)

Committer:
alexpirciu
Date:
Thu Mar 28 07:44:42 2019 +0000
Revision:
1:ceee5a608e7c
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alexpirciu 1:ceee5a608e7c 1 /**
alexpirciu 1:ceee5a608e7c 2 ******************************************************************************
alexpirciu 1:ceee5a608e7c 3 * @file SystemModels/systemmodels.hpp
alexpirciu 1:ceee5a608e7c 4 * @author RBRO/PJ-IU
alexpirciu 1:ceee5a608e7c 5 * @version V1.0.0
alexpirciu 1:ceee5a608e7c 6 * @date day-month-2017
alexpirciu 1:ceee5a608e7c 7 * @brief This file contains the class declarations for system model.
alexpirciu 1:ceee5a608e7c 8 ******************************************************************************
alexpirciu 1:ceee5a608e7c 9 */
alexpirciu 1:ceee5a608e7c 10
alexpirciu 1:ceee5a608e7c 11 /* Inclusion guard */
alexpirciu 1:ceee5a608e7c 12 #ifndef SYSTEM_MODELS_HPP
alexpirciu 1:ceee5a608e7c 13 #define SYSTEM_MODELS_HPP
alexpirciu 1:ceee5a608e7c 14
alexpirciu 1:ceee5a608e7c 15 #include <Linalg/linalg.h>
alexpirciu 1:ceee5a608e7c 16
alexpirciu 1:ceee5a608e7c 17 // Discrete System Models
alexpirciu 1:ceee5a608e7c 18 namespace systemmodels{
alexpirciu 1:ceee5a608e7c 19 //Linear time variant models
alexpirciu 1:ceee5a608e7c 20 namespace lti{
alexpirciu 1:ceee5a608e7c 21 namespace siso{
alexpirciu 1:ceee5a608e7c 22 /**
alexpirciu 1:ceee5a608e7c 23 * @brief Discrete transfer function
alexpirciu 1:ceee5a608e7c 24 *
alexpirciu 1:ceee5a608e7c 25 * @tparam T The type of the variable
alexpirciu 1:ceee5a608e7c 26 * @tparam NNum The order of the polynomial
alexpirciu 1:ceee5a608e7c 27 * @tparam NDen The order of the polynomial
alexpirciu 1:ceee5a608e7c 28 */
alexpirciu 1:ceee5a608e7c 29 template <class T,uint32_t NNum,uint32_t NDen>
alexpirciu 1:ceee5a608e7c 30 class CDiscreteTransferFucntion{
alexpirciu 1:ceee5a608e7c 31 public:
alexpirciu 1:ceee5a608e7c 32 using CDenType = linalg::CMatrix<T,NDen,1>;
alexpirciu 1:ceee5a608e7c 33 using CDenModType = linalg::CMatrix<T,NDen-1,1>;
alexpirciu 1:ceee5a608e7c 34 using CNumType = linalg::CMatrix<T,NNum,1>;
alexpirciu 1:ceee5a608e7c 35 // using CNumModType = linalg::CMatrix<T,NNum-1,1>;
alexpirciu 1:ceee5a608e7c 36 using CInputMem = linalg::CMatrix<T,1,NNum>;
alexpirciu 1:ceee5a608e7c 37 using COutputMem = linalg::CMatrix<T,1,NDen-1>;
alexpirciu 1:ceee5a608e7c 38 /* Constructor */
alexpirciu 1:ceee5a608e7c 39 CDiscreteTransferFucntion();
alexpirciu 1:ceee5a608e7c 40
alexpirciu 1:ceee5a608e7c 41 CDiscreteTransferFucntion(const CNumType& f_num,const CDenType& f_den);
alexpirciu 1:ceee5a608e7c 42
alexpirciu 1:ceee5a608e7c 43 /* Clear memory */
alexpirciu 1:ceee5a608e7c 44 void clearMemmory();
alexpirciu 1:ceee5a608e7c 45 /* Shift memory */
alexpirciu 1:ceee5a608e7c 46 template<uint32_t N>
alexpirciu 1:ceee5a608e7c 47 void shiftMemory(linalg::CMatrix<T,1,N>& f_mem);
alexpirciu 1:ceee5a608e7c 48 /* Operator */
alexpirciu 1:ceee5a608e7c 49 T operator()(const T& f_input);
alexpirciu 1:ceee5a608e7c 50 /* Set num */
alexpirciu 1:ceee5a608e7c 51 void setNum(const CNumType& f_num);
alexpirciu 1:ceee5a608e7c 52 /* Set den */
alexpirciu 1:ceee5a608e7c 53 void setDen(const CDenType& f_den);
alexpirciu 1:ceee5a608e7c 54
alexpirciu 1:ceee5a608e7c 55 const CNumType& getNum();
alexpirciu 1:ceee5a608e7c 56 const CDenModType& getDen();
alexpirciu 1:ceee5a608e7c 57 float getDenCurrent();
alexpirciu 1:ceee5a608e7c 58 /* Get output */
alexpirciu 1:ceee5a608e7c 59 T getOutput();
alexpirciu 1:ceee5a608e7c 60
alexpirciu 1:ceee5a608e7c 61 private:
alexpirciu 1:ceee5a608e7c 62
alexpirciu 1:ceee5a608e7c 63 #ifdef SYSTEMMODEL_TEST_HPP
alexpirciu 1:ceee5a608e7c 64 FRIEND_TEST(CDiscreteTransferFucntionTest,Reset);
alexpirciu 1:ceee5a608e7c 65 #endif
alexpirciu 1:ceee5a608e7c 66
alexpirciu 1:ceee5a608e7c 67 /* nominator type */
alexpirciu 1:ceee5a608e7c 68 CNumType m_num;
alexpirciu 1:ceee5a608e7c 69 // CDenType m_den;
alexpirciu 1:ceee5a608e7c 70 /* denominator type */
alexpirciu 1:ceee5a608e7c 71 CDenModType m_den;
alexpirciu 1:ceee5a608e7c 72 T m_denCoef;
alexpirciu 1:ceee5a608e7c 73 /* input memory */
alexpirciu 1:ceee5a608e7c 74 CInputMem m_memInput;
alexpirciu 1:ceee5a608e7c 75 /* output memory */
alexpirciu 1:ceee5a608e7c 76 COutputMem m_memOutput;
alexpirciu 1:ceee5a608e7c 77 };
alexpirciu 1:ceee5a608e7c 78 }
alexpirciu 1:ceee5a608e7c 79
alexpirciu 1:ceee5a608e7c 80 };
alexpirciu 1:ceee5a608e7c 81 // Nonlinea time invariant models
alexpirciu 1:ceee5a608e7c 82 namespace nlti{
alexpirciu 1:ceee5a608e7c 83 //Multi-input and multi-output
alexpirciu 1:ceee5a608e7c 84 namespace mimo{
alexpirciu 1:ceee5a608e7c 85 // Discrete time system model of a system nonlinear time invariant with multi-input and multi-output
alexpirciu 1:ceee5a608e7c 86 // T -variable type
alexpirciu 1:ceee5a608e7c 87 // NA -number of inputs
alexpirciu 1:ceee5a608e7c 88 // NB -number of states
alexpirciu 1:ceee5a608e7c 89 // NC -number of outputs
alexpirciu 1:ceee5a608e7c 90 template <class T,uint32_t NA, uint32_t NB,uint32_t NC>
alexpirciu 1:ceee5a608e7c 91 class CDiscreteTimeSystemModel{
alexpirciu 1:ceee5a608e7c 92 public:
alexpirciu 1:ceee5a608e7c 93 using CStatesType = linalg::CMatrix<T,NB,1>;
alexpirciu 1:ceee5a608e7c 94 using CInputType = linalg::CMatrix<T,NA,1>;
alexpirciu 1:ceee5a608e7c 95 using COutputType = linalg::CMatrix<T,NC,1>;
alexpirciu 1:ceee5a608e7c 96 /* Constructor */
alexpirciu 1:ceee5a608e7c 97 CDiscreteTimeSystemModel(const double f_dt);//:m_states(),m_dt(f_dt){}
alexpirciu 1:ceee5a608e7c 98 /* Constructor */
alexpirciu 1:ceee5a608e7c 99 CDiscreteTimeSystemModel(const CStatesType& f_states
alexpirciu 1:ceee5a608e7c 100 ,const double f_dt);
alexpirciu 1:ceee5a608e7c 101 //State transition model
alexpirciu 1:ceee5a608e7c 102 //Calculate the system state depending on input, after calculation the relevant class members need to be syncronized.
alexpirciu 1:ceee5a608e7c 103 virtual CStatesType update(const CInputType& f_input)=0;
alexpirciu 1:ceee5a608e7c 104 //State observation model
alexpirciu 1:ceee5a608e7c 105 //Calculate the system output depending on input, after calculation the relevant class members need to be syncronized.
alexpirciu 1:ceee5a608e7c 106 virtual COutputType calculateOutput(const CInputType& f_input)=0;
alexpirciu 1:ceee5a608e7c 107 // GETTERS
alexpirciu 1:ceee5a608e7c 108 // The method returns the current system states
alexpirciu 1:ceee5a608e7c 109 CStatesType getStates();//{return m_states;}
alexpirciu 1:ceee5a608e7c 110 // The method returns the current system output
alexpirciu 1:ceee5a608e7c 111 COutputType getOutput(){return m_outputs;}
alexpirciu 1:ceee5a608e7c 112 float getTimeStep(){return m_dt;}
alexpirciu 1:ceee5a608e7c 113 // SETTERS
alexpirciu 1:ceee5a608e7c 114 void setStates(const CStatesType& f_states){
alexpirciu 1:ceee5a608e7c 115 m_states=f_states;
alexpirciu 1:ceee5a608e7c 116 }
alexpirciu 1:ceee5a608e7c 117 protected:
alexpirciu 1:ceee5a608e7c 118 // States
alexpirciu 1:ceee5a608e7c 119 CStatesType m_states;
alexpirciu 1:ceee5a608e7c 120 // Output
alexpirciu 1:ceee5a608e7c 121 COutputType m_outputs;
alexpirciu 1:ceee5a608e7c 122 // Time step
alexpirciu 1:ceee5a608e7c 123 const double m_dt;
alexpirciu 1:ceee5a608e7c 124 private:
alexpirciu 1:ceee5a608e7c 125 };
alexpirciu 1:ceee5a608e7c 126
alexpirciu 1:ceee5a608e7c 127 // the state transition and observation matrices defined by Jacobians
alexpirciu 1:ceee5a608e7c 128 // T -variable type
alexpirciu 1:ceee5a608e7c 129 // NA -number of inputs
alexpirciu 1:ceee5a608e7c 130 // NB -number of states
alexpirciu 1:ceee5a608e7c 131 // NC -number of outputs
alexpirciu 1:ceee5a608e7c 132 template <class T,uint32_t NA, uint32_t NB,uint32_t NC>
alexpirciu 1:ceee5a608e7c 133 class CJacobianMatrices{
alexpirciu 1:ceee5a608e7c 134 public:
alexpirciu 1:ceee5a608e7c 135 using CStatesType = linalg::CMatrix<T,NB,1>;
alexpirciu 1:ceee5a608e7c 136 using CInputType = linalg::CMatrix<T,NA,1>;
alexpirciu 1:ceee5a608e7c 137 // using COutputType = linalg::CMatrix<T,NC,1>;
alexpirciu 1:ceee5a608e7c 138 using CJMTransitionType = linalg::CMatrix<T,NB,NB>;
alexpirciu 1:ceee5a608e7c 139 using CJMObservationType = linalg::CMatrix<T,NC,NB>;
alexpirciu 1:ceee5a608e7c 140
alexpirciu 1:ceee5a608e7c 141 //The method calculates and returns the states transition matrix
alexpirciu 1:ceee5a608e7c 142 virtual CJMTransitionType getJMTransition(const CStatesType& f_states
alexpirciu 1:ceee5a608e7c 143 ,const CInputType& f_inputs)=0;
alexpirciu 1:ceee5a608e7c 144 // The method calculates and returns the states observation matrix
alexpirciu 1:ceee5a608e7c 145 virtual CJMObservationType getJMObservation(const CStatesType& f_states
alexpirciu 1:ceee5a608e7c 146 ,const CInputType& f_input)=0;
alexpirciu 1:ceee5a608e7c 147 private:
alexpirciu 1:ceee5a608e7c 148 };
alexpirciu 1:ceee5a608e7c 149 };
alexpirciu 1:ceee5a608e7c 150 };
alexpirciu 1:ceee5a608e7c 151 };
alexpirciu 1:ceee5a608e7c 152
alexpirciu 1:ceee5a608e7c 153 #include "systemmodels.inl"
alexpirciu 1:ceee5a608e7c 154
alexpirciu 1:ceee5a608e7c 155 #endif