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Simultaneous Plant and Control Design of an Active Automotive Suspension Using Direct Transcription

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Simultaneous Plant and Control Design of an Active Automotive Suspension Using Direct Transcription

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A toolbox for using Direct Transcription to perform combined plant and control design.

System
classdef System
% A System is essentially an ODE system, it must implements a derivative method
% that takes t, x, x_d as inputs. The state vector includes the control input,
% ksi = [ x; u]. In addition, the system must also provide state Jacobian, design
% Jacobian, constant parameters (if any) and external inputs. 

    methods
        
    end
    properties
        %%
        % Functions
        %
        % These properties are handles of the functions that defines the 
        % system
        
        deriv      % dx = f(t,x, x_d, parameters)
        
        % Until automatic differentiation is available, we require that
        % the user provide analytic Jacobians.
        
        % state Jacobian
        jacobian   % dx = d f/d x(t,x, x_d, parameters) 
        
        % design variable Jacobian
        jacobian_d   % dx_d = d f/d x_d(t,x,x_d, parameters)
        
        %%
        % Parameters are the variables excluding design variable and state
        % variables. These usually include constants used in the equations.
        parameters % constant parameters needed
        
		%%
		% Input are external input, e.g., reference inputs. Note that these
		% input are *not* control inputs.
        input      % u = g(t)
    end
end


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