frc::ImplicitModelFollower< States, Inputs > Class Template Reference

Contains the controller coefficients and logic for an implicit model follower. More...

#include <frc/controller/ImplicitModelFollower.h>

Public Types
using	StateVector = Vectord<States>
using	InputVector = Vectord<Inputs>

Public Member Functions
template<int Outputs>
	ImplicitModelFollower (const LinearSystem< States, Inputs, Outputs > &plant, const LinearSystem< States, Inputs, Outputs > &plantRef)
	Constructs a controller with the given coefficients and plant.
	ImplicitModelFollower (const Matrixd< States, States > &A, const Matrixd< States, Inputs > &B, const Matrixd< States, States > &Aref, const Matrixd< States, Inputs > &Bref)
	Constructs a controller with the given coefficients and plant.
const InputVector &	U () const
	Returns the control input vector u.
double	U (int i) const
	Returns an element of the control input vector u.
void	Reset ()
	Resets the controller.
InputVector	Calculate (const StateVector &x, const InputVector &u)
	Returns the next output of the controller.

Detailed Description

template<int States, int Inputs>
class frc::ImplicitModelFollower< States, Inputs >

Contains the controller coefficients and logic for an implicit model follower.

Implicit model following lets us design a feedback controller that erases the dynamics of our system and makes it behave like some other system. This can be used to make a drivetrain more controllable during teleop driving by making it behave like a slower or more benign drivetrain.

For more on the underlying math, read appendix B.3 in https://file.tavsys.net/control/controls-engineering-in-frc.pdf.

Template Parameters

States	Number of states.
Inputs	Number of inputs.

Member Typedef Documentation

InputVector

template<int States, int Inputs>

using frc::ImplicitModelFollower< States, Inputs >::InputVector = Vectord<Inputs>

StateVector

template<int States, int Inputs>

using frc::ImplicitModelFollower< States, Inputs >::StateVector = Vectord<States>

Constructor & Destructor Documentation

ImplicitModelFollower() [1/2]

template<int States, int Inputs>

template<int Outputs>

frc::ImplicitModelFollower< States, Inputs >::ImplicitModelFollower ( const LinearSystem< States, Inputs, Outputs > & plant, const LinearSystem< States, Inputs, Outputs > & plantRef )

inline

Constructs a controller with the given coefficients and plant.

Parameters

plant	The plant being controlled.
plantRef	The plant whose dynamics should be followed.

ImplicitModelFollower() [2/2]

template<int States, int Inputs>

frc::ImplicitModelFollower< States, Inputs >::ImplicitModelFollower ( const Matrixd< States, States > & A, const Matrixd< States, Inputs > & B, const Matrixd< States, States > & Aref, const Matrixd< States, Inputs > & Bref )

inline

Constructs a controller with the given coefficients and plant.

Parameters

A	Continuous system matrix of the plant being controlled.
B	Continuous input matrix of the plant being controlled.
Aref	Continuous system matrix whose dynamics should be followed.
Bref	Continuous input matrix whose dynamics should be followed.

Member Function Documentation

Calculate()

template<int States, int Inputs>

InputVector frc::ImplicitModelFollower< States, Inputs >::Calculate ( const StateVector & x, const InputVector & u )

inline

Returns the next output of the controller.

Parameters

x	The current state x.
u	The current input for the original model.

Reset()

template<int States, int Inputs>

void frc::ImplicitModelFollower< States, Inputs >::Reset ( )

inline

Resets the controller.

U() [1/2]

template<int States, int Inputs>

const InputVector & frc::ImplicitModelFollower< States, Inputs >::U ( ) const

inline

Returns the control input vector u.

Returns

The control input.

U() [2/2]

template<int States, int Inputs>

double frc::ImplicitModelFollower< States, Inputs >::U ( int i ) const

inline

Returns an element of the control input vector u.

Parameters

i

Row of u.

Returns

The row of the control input vector.

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The documentation for this class was generated from the following file:

• frc/controller/ImplicitModelFollower.h