Advanced Robot Control System  5.1-REV.51SF170515
Discretize.hh
[詳解]
1 // 離散化関数
2 // 2016/08/17 Yuki YOKOKURA
3 //
4 // 連続系状態方程式のA行列とB行列をサンプリング時間Tsで離散化する関数
5 // (MATLABでいうところの「c2d関数」と同等)
6 //
7 // Copyright (C) 2011-2015 Yuki YOKOKURA
8 // This program is free software;
9 // you can redistribute it and/or modify it under the terms of the GNU General Public License
10 // as published by the Free Software Foundation; either version 3 of the License, or any later version.
11 // This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
12 // without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
13 // See the GNU General Public License for more details <http://www.gnu.org/licenses/>.
14 // Besides, you can negotiate about other options of licenses instead of GPL.
15 // If you would like to get other licenses, please contact us <yokokura@vos.nagaokaut.ac.jp>.
16 
17 #ifndef _DISCRETIZE_
18 #define _DISCRETIZE_
19 
20 // 前方宣言
21 namespace ARCS {
22  class Matrix;
23 }
24 
25 namespace ARCS {
26  void Discretize(const Matrix& Ac, const Matrix& Bc, Matrix& Ad, Matrix& Bd, const double Ts);
27  // 連続系状態方程式のA,B行列を離散化する関数
28  // Ac:連続系のA行列,Bc:連続系のB行列,Ad:離散系のA行列,Bd:離散系のB行列,Ts:サンプリング時間
29 
30  void Discretize(const Matrix& Ac, const Matrix& Bc, Matrix& Ad, Matrix& Bd,
31  const double Ts, const unsigned int Npade, const unsigned long Nint);
32  // 連続系状態方程式のA,B行列を離散化する関数
33  // Ac:連続系のA行列,Bc:連続系のB行列,Ad:離散系のA行列,Bd:離散系のB行列,
34  // Ts:サンプリング時間,Npade:パデ近似の次数,Nint:定積分の分割数
35 }
36 
37 #endif
38 
Definition: ControlFunctions.hh:17
void Discretize(const Matrix &Ac, const Matrix &Bc, Matrix &Ad, Matrix &Bd, const double Ts)
Definition: Discretize.cc:21