Class LinearPlantInversionFeedforward<States extends Num,​Inputs extends Num,​Outputs extends Num>


  • public class LinearPlantInversionFeedforward<States extends Num,​Inputs extends Num,​Outputs extends Num>
    extends Object
    Constructs a plant inversion model-based feedforward from a LinearSystem.

    The feedforward is calculated as u_ff = B+ (r_k+1 - A r_k) , where B+ is the pseudoinverse of B.

    For more on the underlying math, read https://file.tavsys.net/control/controls-engineering-in-frc.pdf.

    • Constructor Detail

      • LinearPlantInversionFeedforward

        public LinearPlantInversionFeedforward​(Matrix<States,​States> A,
                                               Matrix<States,​Inputs> B,
                                               double dtSeconds)
        Constructs a feedforward with the given coefficients.
        Parameters:
        A - Continuous system matrix of the plant being controlled.
        B - Continuous input matrix of the plant being controlled.
        dtSeconds - Discretization timestep.
    • Method Detail

      • getUff

        public Matrix<Inputs,​N1getUff()
        Returns the previously calculated feedforward as an input vector.
        Returns:
        The calculated feedforward.
      • getUff

        public double getUff​(int row)
        Returns an element of the previously calculated feedforward.
        Parameters:
        row - Row of uff.
        Returns:
        The row of the calculated feedforward.
      • getR

        public Matrix<States,​N1getR()
        Returns the current reference vector r.
        Returns:
        The current reference vector.
      • getR

        public double getR​(int row)
        Returns an element of the current reference vector r.
        Parameters:
        row - Row of r.
        Returns:
        The row of the current reference vector.
      • reset

        public void reset​(Matrix<States,​N1> initialState)
        Resets the feedforward with a specified initial state vector.
        Parameters:
        initialState - The initial state vector.
      • reset

        public void reset()
        Resets the feedforward with a zero initial state vector.
      • calculate

        public Matrix<Inputs,​N1calculate​(Matrix<States,​N1> nextR)
        Calculate the feedforward with only the desired future reference. This uses the internally stored "current" reference.

        If this method is used the initial state of the system is the one set using reset(Matrix). If the initial state is not set it defaults to a zero vector.

        Parameters:
        nextR - The reference state of the future timestep (k + dt).
        Returns:
        The calculated feedforward.
      • calculate

        public Matrix<Inputs,​N1calculate​(Matrix<States,​N1> r,
                                                 Matrix<States,​N1> nextR)
        Calculate the feedforward with current and future reference vectors.
        Parameters:
        r - The reference state of the current timestep (k).
        nextR - The reference state of the future timestep (k + dt).
        Returns:
        The calculated feedforward.