Alex Pirciu
a
Diff: include/SystemModels/systemmodels.hpp
- Revision:
- 1:ceee5a608e7c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/include/SystemModels/systemmodels.hpp Thu Mar 28 07:44:42 2019 +0000
@@ -0,0 +1,155 @@
+/**
+ ******************************************************************************
+ * @file SystemModels/systemmodels.hpp
+ * @author RBRO/PJ-IU
+ * @version V1.0.0
+ * @date day-month-2017
+ * @brief This file contains the class declarations for system model.
+ ******************************************************************************
+ */
+
+/* Inclusion guard */
+#ifndef SYSTEM_MODELS_HPP
+#define SYSTEM_MODELS_HPP
+
+#include <Linalg/linalg.h>
+
+// Discrete System Models
+namespace systemmodels{
+ //Linear time variant models
+ namespace lti{
+ namespace siso{
+ /**
+ * @brief Discrete transfer function
+ *
+ * @tparam T The type of the variable
+ * @tparam NNum The order of the polynomial
+ * @tparam NDen The order of the polynomial
+ */
+ template <class T,uint32_t NNum,uint32_t NDen>
+ class CDiscreteTransferFucntion{
+ public:
+ using CDenType = linalg::CMatrix<T,NDen,1>;
+ using CDenModType = linalg::CMatrix<T,NDen-1,1>;
+ using CNumType = linalg::CMatrix<T,NNum,1>;
+ // using CNumModType = linalg::CMatrix<T,NNum-1,1>;
+ using CInputMem = linalg::CMatrix<T,1,NNum>;
+ using COutputMem = linalg::CMatrix<T,1,NDen-1>;
+ /* Constructor */
+ CDiscreteTransferFucntion();
+
+ CDiscreteTransferFucntion(const CNumType& f_num,const CDenType& f_den);
+
+ /* Clear memory */
+ void clearMemmory();
+ /* Shift memory */
+ template<uint32_t N>
+ void shiftMemory(linalg::CMatrix<T,1,N>& f_mem);
+ /* Operator */
+ T operator()(const T& f_input);
+ /* Set num */
+ void setNum(const CNumType& f_num);
+ /* Set den */
+ void setDen(const CDenType& f_den);
+
+ const CNumType& getNum();
+ const CDenModType& getDen();
+ float getDenCurrent();
+ /* Get output */
+ T getOutput();
+
+ private:
+
+ #ifdef SYSTEMMODEL_TEST_HPP
+ FRIEND_TEST(CDiscreteTransferFucntionTest,Reset);
+ #endif
+
+ /* nominator type */
+ CNumType m_num;
+ // CDenType m_den;
+ /* denominator type */
+ CDenModType m_den;
+ T m_denCoef;
+ /* input memory */
+ CInputMem m_memInput;
+ /* output memory */
+ COutputMem m_memOutput;
+ };
+ }
+
+ };
+ // Nonlinea time invariant models
+ namespace nlti{
+ //Multi-input and multi-output
+ namespace mimo{
+ // Discrete time system model of a system nonlinear time invariant with multi-input and multi-output
+ // T -variable type
+ // NA -number of inputs
+ // NB -number of states
+ // NC -number of outputs
+ template <class T,uint32_t NA, uint32_t NB,uint32_t NC>
+ class CDiscreteTimeSystemModel{
+ public:
+ using CStatesType = linalg::CMatrix<T,NB,1>;
+ using CInputType = linalg::CMatrix<T,NA,1>;
+ using COutputType = linalg::CMatrix<T,NC,1>;
+ /* Constructor */
+ CDiscreteTimeSystemModel(const double f_dt);//:m_states(),m_dt(f_dt){}
+ /* Constructor */
+ CDiscreteTimeSystemModel(const CStatesType& f_states
+ ,const double f_dt);
+ //State transition model
+ //Calculate the system state depending on input, after calculation the relevant class members need to be syncronized.
+ virtual CStatesType update(const CInputType& f_input)=0;
+ //State observation model
+ //Calculate the system output depending on input, after calculation the relevant class members need to be syncronized.
+ virtual COutputType calculateOutput(const CInputType& f_input)=0;
+ // GETTERS
+ // The method returns the current system states
+ CStatesType getStates();//{return m_states;}
+ // The method returns the current system output
+ COutputType getOutput(){return m_outputs;}
+ float getTimeStep(){return m_dt;}
+ // SETTERS
+ void setStates(const CStatesType& f_states){
+ m_states=f_states;
+ }
+ protected:
+ // States
+ CStatesType m_states;
+ // Output
+ COutputType m_outputs;
+ // Time step
+ const double m_dt;
+ private:
+ };
+
+ // the state transition and observation matrices defined by Jacobians
+ // T -variable type
+ // NA -number of inputs
+ // NB -number of states
+ // NC -number of outputs
+ template <class T,uint32_t NA, uint32_t NB,uint32_t NC>
+ class CJacobianMatrices{
+ public:
+ using CStatesType = linalg::CMatrix<T,NB,1>;
+ using CInputType = linalg::CMatrix<T,NA,1>;
+ // using COutputType = linalg::CMatrix<T,NC,1>;
+ using CJMTransitionType = linalg::CMatrix<T,NB,NB>;
+ using CJMObservationType = linalg::CMatrix<T,NC,NB>;
+
+ //The method calculates and returns the states transition matrix
+ virtual CJMTransitionType getJMTransition(const CStatesType& f_states
+ ,const CInputType& f_inputs)=0;
+ // The method calculates and returns the states observation matrix
+ virtual CJMObservationType getJMObservation(const CStatesType& f_states
+ ,const CInputType& f_input)=0;
+ private:
+ };
+ };
+ };
+};
+
+#include "systemmodels.inl"
+
+#endif