siconos.control.observer.LuenbergerObserver (Python class)

class siconos.control.observer.LuenbergerObserver(*args)[source]

Bases: siconos.control.observer.Observer

Constructors

LuenbergerObserver(ControlSensor sensor, array_like (np.float64, 1D) 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
LuenbergerObserver(ControlSensor sensor, array_like (np.float64, 1D) xHat0, array_like (np.float64, 2D) C, array_like (np.float64, 2D) 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
initialize(NonSmoothDynamicalSystem nsds, Simulation s) → None[source]

Initialization.

Parameters:
  • nsds – current nonsmooth dynamical system
  • s – current simulation setup
process() → None[source]

Compute the new control law at each event.

setCPtr(array_like (np.float64, 2D) C) → None[source]

Set the C matrix.

Parameters:C – the new C matrix
setLPtr(array_like (np.float64, 2D) L) → None[source]

Set the L matrix.

Parameters:L – the new L matrix