File control/src/Observer/SlidingReducedOrderObserver.hpp

Go to the source code of this file

Discrete-time Sliding Observer.

class SlidingReducedOrderObserver : public Observer

Public Functions

SlidingReducedOrderObserver(SP::ControlSensor sensor, const SiconosVector &xHat0)

Constructor with the standard interface.

Parameters
  • sensor: the SP::ControlSensor that feed us with measurements
  • xHat0: the initial guess for the state

SlidingReducedOrderObserver(SP::ControlSensor sensor, const SiconosVector &xHat0, SP::SimpleMatrix C, SP::SimpleMatrix L)

Constructor with all the data.

Parameters
  • sensor: the sensor that feeds the Observer
  • xHat0: the initial guess for the state
  • C: observation matrix
  • L: gain matrix

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

Initialization.

Parameters
  • nsds: current nonsmooth dynamical system
  • s: current simulation setup

virtual void process()

Update the estimate at each event.

void setCPtr(SP::SimpleMatrix C)

Set the C matrix.

Parameters
  • C: the new C matrix

void setLPtr(SP::SimpleMatrix L)

Set the L matrix.

Parameters
  • L: the new L matrix

Protected Attributes

SP::SimpleMatrix _C

the vector defining the measurements ( \( y = Cx \))

SP::SimpleMatrix _L

matrix multiplying the innovation term

bool _pass
double _theta

Private Functions

SlidingReducedOrderObserver()

default constructor

ACCEPT_SERIALIZATION(SlidingReducedOrderObserver)

serialization hooks