Calculates the control inputs of the Process based on the Process outputs.
The class Controller is one of the two main building-blocks within the SimulationEnvironment
and complements the Process. It contains an online control law (e.g. a DynamicFeedbackLaw
comprising a RealTimeAlgorithm) for obtaining the control inputs of the Process.
A state/parameter estimator as well as a ReferenceTrajectory can optionally be used
to provide estimated quatities and a reference values to the control law.
Usage:
>> Controller(controllaw[, reference]);
Parameters:
controllaw Control law. [acado.RealTimeAlgorithm]
reference Reference generator. [acado.ReferenceTrajectory]
Example:
algo = acado.RealTimeAlgorithm(ocp, 0.05);
zeroReference = acado.StaticReferenceTrajectory();
controller = acado.Controller( algo,zeroReference );
See also:
acado.RealTimeAlgorithm
acado.ReferenceTrajectory
Licence:
This file is part of ACADO Toolkit - (http://www.acadotoolkit.org/)
ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
Copyright (C) 2008-2009 by Boris Houska and Hans Joachim Ferreau, K.U.Leuven.
Developed within the Optimization in Engineering Center (OPTEC) under
supervision of Moritz Diehl. All rights reserved.
ACADO Toolkit is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 3 of the License, or (at your option) any later version.
ACADO Toolkit is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with ACADO Toolkit; if not, write to the Free Software
Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
Author: David Ariens
Date: 20100001 %Calculates the control inputs of the Process based on the Process outputs. 0002 % The class Controller is one of the two main building-blocks within the SimulationEnvironment 0003 % and complements the Process. It contains an online control law (e.g. a DynamicFeedbackLaw 0004 % comprising a RealTimeAlgorithm) for obtaining the control inputs of the Process. 0005 % A state/parameter estimator as well as a ReferenceTrajectory can optionally be used 0006 % to provide estimated quatities and a reference values to the control law. 0007 % 0008 % Usage: 0009 % >> Controller(controllaw[, reference]); 0010 % 0011 % Parameters: 0012 % controllaw Control law. [acado.RealTimeAlgorithm] 0013 % reference Reference generator. [acado.ReferenceTrajectory] 0014 % 0015 % Example: 0016 % algo = acado.RealTimeAlgorithm(ocp, 0.05); 0017 % zeroReference = acado.StaticReferenceTrajectory(); 0018 % controller = acado.Controller( algo,zeroReference ); 0019 % 0020 % See also: 0021 % acado.RealTimeAlgorithm 0022 % acado.ReferenceTrajectory 0023 % 0024 % Licence: 0025 % This file is part of ACADO Toolkit - (http://www.acadotoolkit.org/) 0026 % 0027 % ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization. 0028 % Copyright (C) 2008-2009 by Boris Houska and Hans Joachim Ferreau, K.U.Leuven. 0029 % Developed within the Optimization in Engineering Center (OPTEC) under 0030 % supervision of Moritz Diehl. All rights reserved. 0031 % 0032 % ACADO Toolkit is free software; you can redistribute it and/or 0033 % modify it under the terms of the GNU Lesser General Public 0034 % License as published by the Free Software Foundation; either 0035 % version 3 of the License, or (at your option) any later version. 0036 % 0037 % ACADO Toolkit is distributed in the hope that it will be useful, 0038 % but WITHOUT ANY WARRANTY; without even the implied warranty of 0039 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 0040 % Lesser General Public License for more details. 0041 % 0042 % You should have received a copy of the GNU Lesser General Public 0043 % License along with ACADO Toolkit; if not, write to the Free Software 0044 % Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA 0045 % 0046 % Author: David Ariens 0047 % Date: 2010 0048 % 0049 classdef Controller < acado.SimulationBlock 0050 properties (SetAccess='private') 0051 controllaw; 0052 reference; 0053 name = 'controller'; 0054 0055 init_is_set; 0056 init_startTime; 0057 init_x0; 0058 init_p; 0059 init_y_ref; 0060 0061 step_startTime; 0062 step_x0; 0063 step_y_ref; 0064 0065 do_one_step = 0; 0066 end 0067 0068 methods 0069 function obj = Controller(varargin) 0070 0071 checkActiveModel; 0072 global ACADO_; 0073 ACADO_.count_other = ACADO_.count_other+1; 0074 obj.name = strcat(obj.name, num2str(ACADO_.count_other)); 0075 0076 if (nargin == 2 && isa(varargin{1}, 'acado.ControlLaw') && isa(varargin{2}, 'acado.ReferenceTrajectory') ) 0077 obj.controllaw = varargin{1}; 0078 obj.reference = varargin{2}; 0079 0080 elseif (nargin == 1 && isa(varargin{1}, 'acado.ControlLaw')) 0081 obj.controllaw = varargin{1}; 0082 0083 else 0084 error('ERROR: Invalid Controller call. <a href="matlab: help acado.Controller">help acado.Controller</a>'); 0085 end 0086 0087 ACADO_.helper.addInstruction(obj); 0088 0089 0090 end 0091 0092 getInstructions(obj, cppobj, get) 0093 init(obj, varargin) 0094 step(obj, varargin) 0095 0096 end 0097 0098 end