immrax.control#
- class immrax.control.Control#
Bases:
ABCA feedback controller of the form \(u:\mathbb{R}\times\mathbb{R}^n\to\mathbb{R}^p\).
Methods
u(t, x)Feedback Control Output
- abstractmethod u(t: Integer | Float, x: Array) Array#
Feedback Control Output
- Parameters:
- t:Union[Integer, Float]
- x:jax.Array
- Returns:
- class immrax.control.ControlledSystem(olsystem: OpenLoopSystem, control: Control)#
Bases:
SystemA closed-loop nonlinear dynamical system of the form
\[\dot{x} = f^{\textsf{c}}(x,w) = f(x,N(x),w),\]where \(N:\mathbb{R}^n \to \mathbb{R}^p\).
Methods
__call__(*args, **kwargs)Call self as a function.
compute_trajectory(t0, tf, x0[, inputs, dt, ...])Computes the trajectory of the system from time t0 to tf with initial condition x0.
f(t, x, w)Returns the value of the closed loop system
- olsystem: OpenLoopSystem#
- f(t: Integer | Float, x: Array, w: Array) Array#
Returns the value of the closed loop system
- Parameters:
- tUnion[Integer, Float]
time value
- xjax.Array
state value
- wjax.Array
disturbance value
- Returns:
- jax.Array
\(f^{\textsf{c}}(x,w) = f(x,N(x),w)\)