Class LuenbergerObserver

Class LuenbergerObserver#

Defined in Program listing for file control/src/Observer/LuenbergerObserver.hpp

class LuenbergerObserver : public Observer#

Public Functions

inline LuenbergerObserver(SP::ControlSensor sensor, const SiconosVector &xHat0)#

Constructor with a TimeDiscretisation, a ControlSensor and an initial estimate of the state.

Parameters:

  • sensor – the SP::ControlSensor that feed us with measurements

  • xHat0 – the initial guess for the state

inline LuenbergerObserver(SP::ControlSensor sensor, const SiconosVector &xHat0, SP::SiconosMatrix C, SP::SiconosMatrix L)#

Constructor with all the data.

Parameters:

  • sensor – the ControlSensor that feeds the Observer

  • xHat0 – the initial guess for the state

  • C – the observation matrix

  • L – the gain matrix

virtual void process()#

Compute the new control law at each event.

virtual void initialize(const NonSmoothDynamicalSystem &nsds, const Simulation &s)#

Initialization.

Parameters:

  • nsds – current nonsmooth dynamical system

  • s – current simulation setup

inline void setLPtr(SP::SiconosMatrix L)#

Set the L matrix.

Parameters:

L – the new L matrix

inline void setCPtr(SP::SiconosMatrix C)#

Set the C matrix.

Parameters:

C – the new C matrix

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