Class LinearSystemUtil

java.lang.Object

org.wpilib.math.system.LinearSystemUtil

public final class LinearSystemUtil
extends Object

Linear system utilities.

Method Summary

Modifier and Type	Method	Description
static <States extends Num, Outputs extends Num> boolean	isDetectable(Matrix<States,States> A, Matrix<Outputs,States> C)	Returns true if (A, C) is a detectable pair.
static <States extends Num, Inputs extends Num> boolean	isStabilizable(Matrix<States,States> A, Matrix<States,Inputs> B)	Returns true if (A, B) is a stabilizable pair.

Methods inherited from class Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Details

isStabilizable

public static <States extends Num, Inputs extends Num>
boolean isStabilizable(Matrix<States,States> A,
 Matrix<States,Inputs> B)

Returns true if (A, B) is a stabilizable pair.

(A, B) is stabilizable if and only if the uncontrollable eigenvalues of A, if any, have absolute values less than one, where an eigenvalue is uncontrollable if rank([λI - A, B]) %3C n where n is the number of states.

Type Parameters:

States - Num representing the size of A.

Inputs - Num representing the columns of B.

Parameters:

A - System matrix.

B - Input matrix.

Returns:

If the system is stabilizable.

isDetectable

public static <States extends Num, Outputs extends Num>
boolean isDetectable(Matrix<States,States> A,
 Matrix<Outputs,States> C)

Returns true if (A, C) is a detectable pair.

(A, C) is detectable if and only if the unobservable eigenvalues of A, if any, have absolute values less than one, where an eigenvalue is unobservable if rank([λI - A; C]) %3C n where n is the number of states.

Type Parameters:

States - Num representing the size of A.

Outputs - Num representing the rows of C.

Parameters:

A - System matrix.

C - Output matrix.

Returns:

If the system is detectable.