vulcan::tf::FirstOrderCoeffs< Scalar > Struct Template Reference

First-order discrete-time system coefficients. More...

#include <FirstOrder.hpp>

Public Attributes
Scalar	a
	State coefficient: exp(-dt/τ).
Scalar	b
	Input coefficient: K*(1 - a).
double	tau
	Time constant [s].
double	K
	DC gain.
double	dt
	Sample time [s].

Detailed Description

template<typename Scalar>
struct vulcan::tf::FirstOrderCoeffs< Scalar >

First-order discrete-time system coefficients.

Continuous form: τ*ẏ + y = K*u Discretized (ZOH): y[k+1] = a*y[k] + b*u[k]

Where: a = exp(-dt/τ) b = K*(1 - a)

Template Parameters

Scalar

Variable type (e.g., double or casadi::MX)

Member Data Documentation

a

template<typename Scalar>

Scalar vulcan::tf::FirstOrderCoeffs< Scalar >::a

State coefficient: exp(-dt/τ).

b

template<typename Scalar>

Scalar vulcan::tf::FirstOrderCoeffs< Scalar >::b

Input coefficient: K*(1 - a).

dt

template<typename Scalar>

double vulcan::tf::FirstOrderCoeffs< Scalar >::dt

Sample time [s].

K

template<typename Scalar>

double vulcan::tf::FirstOrderCoeffs< Scalar >::K

DC gain.

tau

template<typename Scalar>

double vulcan::tf::FirstOrderCoeffs< Scalar >::tau

Time constant [s].

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

• include/vulcan/transfer_functions/FirstOrder.hpp