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

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

#include <SecondOrder.hpp>

Public Attributes
Eigen::Matrix< Scalar, 2, 2 >	A
	Discrete state matrix.
Eigen::Matrix< Scalar, 2, 1 >	B
	Discrete input matrix.
Eigen::Matrix< Scalar, 1, 2 >	C
	Output matrix.
Scalar	D
	Feedthrough (usually 0).
double	omega_n
	Natural frequency [rad/s].
double	zeta
	Damping ratio.
double	K
	DC gain.
double	dt
	Sample time [s].

Detailed Description

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

Second-order discrete-time system coefficients.

Continuous form: ÿ + 2ζω_n*ẏ + ω_n²*y = K*ω_n²*u

State-space representation with state x = [y, ẏ]ᵀ

Template Parameters

Scalar

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

Member Data Documentation

A

template<typename Scalar>

Eigen::Matrix<Scalar, 2, 2> vulcan::tf::SecondOrderCoeffs< Scalar >::A

Discrete state matrix.

B

template<typename Scalar>

Eigen::Matrix<Scalar, 2, 1> vulcan::tf::SecondOrderCoeffs< Scalar >::B

Discrete input matrix.

C

template<typename Scalar>

Eigen::Matrix<Scalar, 1, 2> vulcan::tf::SecondOrderCoeffs< Scalar >::C

Output matrix.

D

template<typename Scalar>

Scalar vulcan::tf::SecondOrderCoeffs< Scalar >::D

Feedthrough (usually 0).

dt

template<typename Scalar>

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

Sample time [s].

K

template<typename Scalar>

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

DC gain.

omega_n

template<typename Scalar>

double vulcan::tf::SecondOrderCoeffs< Scalar >::omega_n

Natural frequency [rad/s].

zeta

template<typename Scalar>

double vulcan::tf::SecondOrderCoeffs< Scalar >::zeta

Damping ratio.

---

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

• include/vulcan/transfer_functions/SecondOrder.hpp