`OpenControl.classiccontrol.controller`¶

Module Contents¶

`StateFeedBackController`	Abstract class for controller based on state feedback .asdkjasd
`PoleStatement`	Design controller, move the eigvalues of system to desire.
`LQR`	this class implement Optimal control ,LQR

class OpenControl.classiccontrol.controller.StateFeedBackController¶

Bases: abc.ABC

Abstract class for controller based on state feedback .asdkjasd

class OpenControl.classiccontrol.controller.PoleStatement(pole, system, algo='Arckerman')¶

Design controller, move the eigvalues of system to desire. this class implement 3 method. Roppernecker, Arckerman, Modal

_Roppernecker(self)¶

This function Implement Controller, Designed based on Ropernecker algorithms

Raises: ValueError – if system has no matrix B
Returns: 2D array, matrix of controller. got the shape (input_shape,state_shape)
Return type: [np.ndarray]

_Arckerman(self)¶

Implement the arckerman method.

Raises: ValueError – if B is None or system declared without input matrix (B)
Returns: the controller matrix. Result of algorithms. see _Roppernecker funtion for mor detail.
Return type: [nd.array]

compute(self)¶

the system instance call this method to get the controller matrix,: designed based on selected algorithms.

class OpenControl.classiccontrol.controller.LQR(system, E, F)¶

this class implement Optimal control ,LQR