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 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)
	Drives the LTI system recursively using the input signal provided.

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 ()

	tdl ()=default

	tdl (real_t *const area, const size_t n, const real_t initVal=0.0_re)
	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.

const 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
	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

inlineoverridevirtual

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]