lqg.h File Reference

LQG Control algorithm. More...

#include <pios.h>
#include <misc_math.h>

Go to the source code of this file.

Macros
#define	LQG_SOLVER_FAILED   -1
#define	LQG_SOLVER_RUNNING   0
#define	LQG_SOLVER_DONE   1

Typedefs
typedef struct rtkf_state *	rtkf_t
typedef struct lqr_state *	lqr_t
typedef struct lqg_state *	lqg_t

Functions
rtkf_t	rtkf_create (float beta, float tau, float Ts, float R, float q1, float q2, float q3, float biaslim)
void	rtkf_stabilize_covariance (rtkf_t rtkf, int iterations)
int	rtkf_solver_status (rtkf_t rtkf)
lqr_t	lqr_create (float beta, float tau, float Ts, float q1, float q2, float r)
void	lqr_stabilize_covariance (lqr_t lqr, int iterations)
int	lqr_solver_status (lqr_t lqr)
void	lqr_update (lqr_t lqr, float q1, float q2, float r)
void	lqr_get_gains (lqr_t lqr, float K[2])
lqg_t	lqg_create (rtkf_t rtkf, lqr_t lqr)
int	lqg_solver_status (lqg_t lqg)
lqr_t	lqg_get_lqr (lqg_t lqg)
rtkf_t	lqg_get_rtkf (lqg_t lqg)
void	lqg_run_covariance (lqg_t lqg, int iter)
float	lqg_controller (lqg_t lqg, float signal, float setpoint)
void	lqg_set_x0 (lqg_t lqg, float x0)
void	lqg_get_rtkf_state (lqg_t lqg, float *rate, float *torque, float *bias)

Detailed Description

LQG Control algorithm.

Author

dRonin, http://dronin.org, Copyright (C) 2018

See Also

The GNU Public License (GPL) Version 3

Definition in file lqg.h.