A LTI continuous system object. More...

#include <ltisys.hpp>

Inheritance diagram for qlibs::continuousSystem:

Public Member Functions
virtual	~continuousSystem ()

	continuousSystem (real_t num, real_t den, nState *x, const size_t nD, const real_t dT) noexcept
	Constructor for an instance of a LTI continuous system.

template<size_t order>
	continuousSystem (continuousTF< order > &ctf, const real_t dT)
	Constructor for an instance of a LTI continuous system from a transfer function definition.

template<size_t systemOrder>
	continuousSystem (real_t(&num)[systemOrder+1], real_t(&den)[systemOrder+1], nState(&x)[systemOrder], const real_t dT) noexcept
	Constructor for an instance of a LTI continuous system.

bool	setup (real_t num, real_t den, nState *x, const size_t nD, const real_t dT) noexcept
	Setup and initialize an instance of a LTI continuous system.

template<size_t systemOrder>
bool	setup (real_t(&num)[systemOrder+1], real_t(&den)[systemOrder+1], nState(&x)[systemOrder], const real_t dT) noexcept
	Setup and initialize an instance of a LTI continuous system.

template<size_t order>
bool	setup (continuousTF< order > &ctf, const real_t dT)
	Setup and initialize an instance of a LTI continuous system from a transfer function definition.

bool	isInitialized (void) const noexcept override
	Check if the LTI continuous system is initialized.

bool	setInitStates (const real_t *xi=nullptr) override
	Set the initial states for the continuous system.

bool	setIntegrationMethod (integrationMethod m)
	Set integration method of the continuous system.

Public Member Functions inherited from qlibs::ltisys
virtual	~ltisys ()

	ltisys ()=default

real_t	excite (real_t u) noexcept
	Drives the LTI system recursively using the provided input sample.

real_t	operator() (const real_t u)
	Drives the LTI system recursively using the provided input sample.

	operator bool () const noexcept
	Check if the LTI system is initialized.

ltisysType	getType (void) const
	Get the LTI system type.

bool	setDelay (real_t *const w, const size_t nD, const real_t initVal=0.0_re) noexcept
	Set the input delay for LTI system.

bool	setSaturation (const real_t minV, const real_t maxV) noexcept
	Setup the output saturation for the LTI system.

Public Member Functions inherited from qlibs::tdl
virtual	~tdl () noexcept=default

	tdl ()=default

	tdl (real_t *const area, const size_t n, const real_t initVal=0.0_re) noexcept
	Constructor for the Tapped Delay Line (TDL) instance.

template<size_t numberOfDelays>
	tdl (real_t(&area)[numberOfDelays], const real_t initVal=0.0_re) noexcept
	Constructor for the Tapped Delay Line (TDL) instance.

void	setup (real_t *const area, const size_t n, const real_t initVal=0.0_re) noexcept
	Setup and initialize a Tapped Delay Line (TDL) instance by setting the default optimal parameters.

template<size_t numberOfDelays>
void	setup (real_t(&area)[numberOfDelays], const real_t initVal=0.0_re) noexcept
	Setup and initialize a Tapped Delay Line (TDL) instance by setting the default optimal parameters.

void	flush (const real_t initVal=0.0_re) noexcept
	Clears all delays from the TDL and sets them to the specified value.

real_t	getOldest (void) const noexcept
	Get the oldest sample from the TDL x(k-n)

real_t	getRecent (void) const noexcept
	Get the most recent sample from the TDL x(k)

real_t	getAtIndex (const size_t i) const noexcept
	Get the specified delayed sample from the TDL x(k-i)

void	insertSample (const real_t sample) noexcept
	Insert a new sample to the TDL removing the oldest sample.

real_t	operator[] (int index) noexcept
	Get the specified delayed sample from the TDL x(k-i)

void	operator() (const real_t sample) noexcept
	Insert a new sample to the TDL removing the oldest sample.

bool	isInitialized (void) const noexcept
	Check if the TDL has been initialized.

	operator bool () const noexcept
	Check if the TDL has been initialized.

Detailed Description

A LTI continuous system object.

The instance should be initialized using the continuousSystem::setup() method.

Constructor & Destructor Documentation

◆ ~continuousSystem()

virtual qlibs::continuousSystem::~continuousSystem ( )

inlinevirtual

◆ continuousSystem() [1/3]

qlibs::continuousSystem::continuousSystem	(	real_t *	num,
		real_t *	den,
		nState *	x,
		const size_t	nD,
		const real_t	dT )

inlinenoexcept

Constructor for an instance of a LTI continuous system.

Parameters

[in,out]	num	: An array of n+1 elements with the numerator coefficients of the transfer function. Coefficients should be given in descending powers of the n or nb-degree polynomial. Coefficients will be normalized internally.
[in,out]	den	An array of n+1 elements with the denominator coefficients of the transfer function. Coefficients should be given in descending powers of the n or nb-degree polynomial. Coefficients will be normalized internally.
[in,out]	x	Initial conditions of the system. For a continuos system, an array of type continuousStates with n elements. The supplied array will be updated on every invocation of continuousSystem::excite().
[in]	nD	The system order ( n ).

example 2: \( \frac{ b_{0}s^{2}+b_{1}s+b_{2} }{ a_{0}s^{2} + a_{1}s + a_{2} }, na = 3 \)

Note: Size of num and den should be equal.

Parameters

[in] dT The time-step of the continuos system.

Note: By default, initial conditions are set to zero. To change the initial conditions to the desired values, use the continuousSystem::setInitStates() method.

◆ continuousSystem() [2/3]

template<size_t order>

qlibs::continuousSystem::continuousSystem	(	continuousTF< order > &	ctf,
		const real_t	dT )

inline

Constructor for an instance of a LTI continuous system from a transfer function definition.

Parameters

[in]	ctf	: The continuous transfer-function
[in]	dT	The time-step of the continuos system.

◆ continuousSystem() [3/3]

template<size_t systemOrder>

qlibs::continuousSystem::continuousSystem	(	real_t(&)	num[systemOrder+1],
		real_t(&)	den[systemOrder+1],
		nState(&)	x[systemOrder],
		const real_t	dT )

inlinenoexcept

Constructor for an instance of a LTI continuous system.

Parameters

[in,out]	num	: An array of n+1 elements with the numerator coefficients of the transfer function. Coefficients should be given in descending powers of the n or nb-degree polynomial. Coefficients will be normalized internally.
[in,out]	den	An array of n+1 elements with the denominator coefficients of the transfer function. Coefficients should be given in descending powers of the n or nb-degree polynomial. Coefficients will be normalized internally.
[in,out]	x	Initial conditions of the system. For a continuos system, an array of type continuousStates with n elements. The supplied array will be updated on every invocation of continuousSystem::excite().

Note: Size of num and den should be equal.

Parameters

[in] dT The time-step of the continuos system.

Note: By default, initial conditions are set to zero. To change the initial conditions to the desired values, use the continuousSystem::setInitStates() method.

Member Function Documentation

◆ isInitialized()

bool qlibs::continuousSystem::isInitialized ( void ) const

inlineoverridevirtualnoexcept

Check if the LTI continuous system is initialized.

Returns: true if the system has been initialized, otherwise return false.

Implements qlibs::ltisys.

◆ setInitStates()

bool continuousSystem::setInitStates ( const real_t * xi = nullptr )

overridevirtual

Set the initial states for the continuous system.

Precondition: System should be previously initialized by using the discreteSystem::setup() method

Parameters

[in] xi An array of n-elements with the initial state values. User can pass nullptr as argument to set initial conditions equal to zero.

Returns: true on success, otherwise return false.

Implements qlibs::ltisys.

◆ setIntegrationMethod()

bool continuousSystem::setIntegrationMethod ( integrationMethod m )

Set integration method of the continuous system.

Parameters

[in] m The desired integration method. Use one of the following:

INTEGRATION_RECTANGULAR : Integrate using the Rectangular rule.

INTEGRATION_TRAPEZOIDAL : (default) Integrate using the Trapezoidal rule.

INTEGRATION_SIMPSON : Integrate using the Simpson's 1/3 rule.

Returns: true on success, otherwise return false.

◆ setup() [1/3]

template<size_t order>

bool qlibs::continuousSystem::setup	(	continuousTF< order > &	ctf,
		const real_t	dT )

inline

Setup and initialize an instance of a LTI continuous system from a transfer function definition.

Parameters

[in]	ctf	: The continuous transfer-function
[in]	dT	The time-step of the continuos system.

Returns: true on success, otherwise return false.

◆ setup() [2/3]

bool continuousSystem::setup	(	real_t *	num,
		real_t *	den,
		nState *	x,
		const size_t	nD,
		const real_t	dT )

noexcept

Setup and initialize an instance of a LTI continuous system.

Parameters

[in,out]	num	: An array of n+1 elements with the numerator coefficients of the transfer function. Coefficients should be given in descending powers of the n or nb-degree polynomial. Coefficients will be normalized internally.
[in,out]	den	An array of n+1 elements with the denominator coefficients of the transfer function. Coefficients should be given in descending powers of the n or nb-degree polynomial. Coefficients will be normalized internally.
[in,out]	x	Initial conditions of the system. For a continuos system, an array of type continuousStates with n elements. The supplied array will be updated on every invocation of continuousSystem::excite().
[in]	nD	The system order ( n ).

example 2: \( \frac{ b_{0}s^{2}+b_{1}s+b_{2} }{ a_{0}s^{2} + a_{1}s + a_{2} }, na = 3 \)

Note: Size of num and den should be equal.

Parameters

[in] dT The time-step of the continuos system.

Returns: true on success, otherwise return false.

Note: By default, initial conditions are set to zero. To change the initial conditions to the desired values, use the continuousSystem::setInitStates() method.

◆ setup() [3/3]

template<size_t systemOrder>

bool qlibs::continuousSystem::setup	(	real_t(&)	num[systemOrder+1],
		real_t(&)	den[systemOrder+1],
		nState(&)	x[systemOrder],
		const real_t	dT )

inlinenoexcept

Setup and initialize an instance of a LTI continuous system.

Parameters

[in,out]	num	: An array of n+1 elements with the numerator coefficients of the transfer function. Coefficients should be given in descending powers of the n or nb-degree polynomial. Coefficients will be normalized internally.
[in,out]	den	An array of n+1 elements with the denominator coefficients of the transfer function. Coefficients should be given in descending powers of the n or nb-degree polynomial. Coefficients will be normalized internally.
[in,out]	x	Initial conditions of the system. For a continuos system, an array of type continuousStates with n elements. The supplied array will be updated on every invocation of continuousSystem::excite().

Note: Size of num and den should be equal.

Parameters

[in] dT The time-step of the continuos system.

Returns: true on success, otherwise return false.

Note: By default, initial conditions are set to zero. To change the initial conditions to the desired values, use the continuousSystem::setInitStates() method.

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ~continuousSystem()

◆ continuousSystem() [1/3]

◆ continuousSystem() [2/3]

◆ continuousSystem() [3/3]

Member Function Documentation

◆ isInitialized()

◆ setInitStates()

◆ setIntegrationMethod()

◆ setup() [1/3]

◆ setup() [2/3]

◆ setup() [3/3]