Useful tool for state-space controllers implementation (for robust control for example).

General State-Space Controller class.

See "example_StateSpaceController.cpp.example" to have an implementation example.

            StateSpaceController class
        ______________/\______________
       /       ___        ________    \  ________
          r  +/   \  e   |        |  u  |        |   y
        ---->|     |---->|   K    |---->| Plant  |---+-->
              \___/      |________|     |________|   |
                ^ -                                  |
              y |____________________________________|

   K:
       | x_{i+1} = A*x_i + B*e_i
       |     u_i = C*x_i + D*e_i

           with e_i = r_i - y_i



  Constructor from file.dat : useful to import data from controller synthesis
 
  formattedDataFilePath : Path to the file
 
  The file has to be formatted as follows:
 
  -------FILE_BEGIN-------
  Time step value (seconds) (example : 0.1)
  State vector dimension nx
  Error vector dimension ne (example : 2)
  Controller output vector dimension nu
  A[0,0] value (example : 12.354)
  ...
  A[0,nx]
  A[1,0]
  ...
  A[1,nx]
  ...
  A[nx,nx]
  B[0,0] value (example : 12.354)
  ...
  B[0,ne]
  B[1,0]
  ...
  B[1,ne]
  ...
  B[nx,ne]
  C[0,0] value (example : 12.354)
  ...
  C[0,nx]
  C[1,0]
  ...
  C[1,nx]
  ...
  C[nu,nx]
  D[0,0] value (example : 12.354)
  ...
  D[0,ne]
  D[1,0]
  ...
  D[1,ne]
  ...
  D[nu,ne]
  -------FILE_END-------

TODO : Reorganize repository to be able to import it as submodule OR see if "src" folder can be imported as submodule (create "controller" sub-folder).