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processes
LabProcesses.jl
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2c4ca44c
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2c4ca44c
authored
Aug 23, 2017
by
Fredrik Bagge Carlson
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Add docs for nonlinear simulator
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README.md
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2c4ca44c
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@@ -106,7 +106,7 @@ end
```
hence, it just performs one iteration of
```
math
x' = Ax + Bu
x' = Ax + Bu
\\
y = Cx + Du
```
...
...
@@ -134,3 +134,13 @@ the system state by calling `init_sysfilter`. The variable `beam_system` is alre
defined outside the type specification.
One of the constructors provides a default value for the sample time, in case
the user is unsure about a reasonable value.
## Non-linear process
Your first option is to linearize the process and proceed like above.
Other options include
1.
Make
`control`
perform forward Euler, i.e.,
`x' = f(x,u)*h`
for a general
system model
``x' = f(x,u); y = g(x,u)``
and sample time
``h``
.
2.
Integrate the system model using some fancy method like Runge-Kutta. See
[
DifferentialEquations.jl
](
http://docs.juliadiffeq.org/stable/types/discrete_types.html
)
for discrete-time solving of ODEs (don't be discuraged, this is almost as simple as
forward Euler above).
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