Package tulip :: Module hybrid :: Class LtiSysDyn

[frames] | no frames]

Class LtiSysDyn

Represent discrete-time continuous-state dynamics:

   s[t+1] = A*s[t] + B*u[t] + E*d[t] + K

subject to the constraints:

   u[t] \in Uset
   d[t] \in Wset
   s[t] \in domain

where:

u[t] the control input
d[t] the disturbance input
s[t] the system state

A LtiSysDyn object contains the fields:

A, B, E, K, (matrices)
Uset, Wset, (each a polytope.Polytope)
domain (polytope.Polytope or polytope.Region)
time_semantics: 'discrete' (if system is originally a discrete-time system) or 'sampled' (if system is sampled from a continuous-time system)
timestep: A positive real number containing the timestep (for sampled system)

as defined above.

Note

For state-dependent bounds on the input,:

   [u[t]; s[t]] \in Uset

can be used.

See Also

PwaSysDyn, SwitchedSysDyn, polytope.Polytope

Instance Methods

__init__(self, A=None, B=None, E=None, K=None, Uset=None, Wset=None, domain=None, time_semantics=None, timestep=None)
x.__init__(...) initializes x; see help(type(x)) for signature

__str__(self)
str(x)

plot(self, ax=None, color=array([ 0.99229, 0.32288, 0.52286]), show_domain=True, res=(5, 5), **kwargs)

Inherited from object: __delattr__, __format__, __getattribute__, __hash__, __new__, __reduce__, __reduce_ex__, __repr__, __setattr__, __sizeof__, __subclasshook__

Properties
Inherited from `object`: `__class__`

Method Details

init(self, A=None, B=None, E=None, K=None, Uset=None, Wset=None, domain=None, time_semantics=None, timestep=None)
(Constructor)

x.__init__(...) initializes x; see help(type(x)) for signature

Overrides: object.__init__: (inherited documentation)

str(self)
(Informal representation operator)

str(x)

Overrides: object.__str__: (inherited documentation)