class

CrySpace::AdaptiveNonlinear

Inherits Reference < Object

Class methods

describing_function_backlash(a : Float64, b : Float64) : Complex

Computes describing function value for a backlash nonlinearity of half-width b at input amplitude a.

Source
ilqr(f : Proc(Float64Tensor, Float64Tensor, Float64Tensor), jf : Proc(Float64Tensor, Float64Tensor, Float64Tensor), ju : Proc(Float64Tensor, Float64Tensor, Float64Tensor), q : Float64Tensor, r : Float64Tensor, qf : Float64Tensor, x0 : Float64Tensor, u_init : Array(Float64Tensor), max_iter : Int32 = 5) : Tuple(Array(Float64Tensor), Array(Float64Tensor))

Performs trajectory optimization for nonlinear systems using Iterative LQR (iLQR).

Source
mrac_simulate(a_plant : Float64, b_plant : Float64, a_model : Float64, b_model : Float64, gamma_x : Float64, gamma_r : Float64, r_signal : Proc(Float64, Float64), t_vec : Float64Tensor) : Tuple(Float64Tensor, Float64Tensor, Float64Tensor)

Simulates Model Reference Adaptive Control (MRAC) tracking a reference model.

Source