File control/src/Observer/SlidingReducedOrderObserver.hpp

File control/src/Observer/SlidingReducedOrderObserver.hpp#

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Discrete-time Sliding Observer

class SlidingReducedOrderObserver : public Observer

Public Functions

inline 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

inline 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 process()

Update the estimate 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::SimpleMatrix L)

Set the L matrix.

Parameters:

L – the new L matrix

inline void setCPtr(SP::SimpleMatrix C)

Set the C matrix.

Parameters:

C – the new C matrix

Protected Attributes

SP::SimpleMatrix _C#

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

SP::SimpleMatrix _L#

matrix multiplying the innovation term

double _theta#
bool _pass#

Private Functions

ACCEPT_SERIALIZATION(SlidingReducedOrderObserver)#
inline SlidingReducedOrderObserver()#

default constructor

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