Package edu.wpi.first.math.jni

Class StateSpaceUtilJNI

java.lang.Object

edu.wpi.first.math.jni.WPIMathJNI

edu.wpi.first.math.jni.StateSpaceUtilJNI

public final class StateSpaceUtilJNI
extends WPIMathJNI

StateSpaceUtil JNI.

Nested Class Summary

Nested classes/interfaces inherited from class edu.wpi.first.math.jni.WPIMathJNI

WPIMathJNI.Helper

Method Summary

Modifier and Type	Method	Description
static boolean	isStabilizable(int states, int inputs, double[] A, double[] B)	Returns true if (A, B) is a stabilizable pair.

Methods inherited from class edu.wpi.first.math.jni.WPIMathJNI

forceLoad

Methods inherited from class java.lang.Object

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

Method Details

isStabilizable

public static boolean isStabilizable(int states,
 int inputs,
 double[] A,
 double[] 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(lambda * I - A, B) < n where n is the number of states.

Parameters:

states - the number of states of the system.

inputs - the number of inputs to the system.

A - System matrix.

B - Input matrix.

Returns:

If the system is stabilizable.