conversion.hpp

Go to the documentation of this file.

// toolboxes/control/include/nk/control/conversion/conversion.hpp
//
// Inter-form converters between tf / zpk / ss representations. These
// are the matrix forms that operate directly on the coefficient
// arrays (so a script can use them either with raw num/den/A/B/C/D
// or with struct-tagged tf/zpk/ss values).
 
#pragma once
 
#include <memory_resource>
#include <nk/value/value.hpp>
#include <utility>
 
namespace nk::control {

 

struct Tf2ZpResult {
    Value z;   
    Value p;   
    Value k;   
};

struct StateSpace {
    Value A;
    Value B;
    Value C;
    Value D;
};

Tf2ZpResult tf2zp(const Value &num, const Value &den,
                  std::pmr::memory_resource *mr = nullptr);

std::pair<Value, Value>
zp2tf(const Value &z, const Value &p, const Value &k,
      std::pmr::memory_resource *mr = nullptr);

StateSpace tf2ss(const Value &num, const Value &den,
                 std::pmr::memory_resource *mr = nullptr);

std::pair<Value, Value>
ss2tf(const Value &A, const Value &B,
      const Value &C, const Value &D, int iu,
      std::pmr::memory_resource *mr = nullptr);

Value minreal(const Value &sys, double tol = 0.0,
              std::pmr::memory_resource *mr = nullptr);
 

} // namespace nk::control