Function is_ss_controllable 

pub fn is_ss_controllable<T: StateSpaceModel>(model: &T) -> (bool, DMatrix<f64>)

Checks if a given state-space model is controllable.

Arguments

• model - A reference to a state-space model that implements the StateSpaceModel trait.

Returns

• bool - true if the system is controllable, false otherwise.

Panics

This function will panic if the computation of the controllability matrix fails.

Examples

use control_sys::analysis;
use control_sys::model;

let ss_model = model::DiscreteStateSpaceModel::from_matrices(
&nalgebra::dmatrix![1.0, -2.0;
                    2.0, 1.0],
&nalgebra::dmatrix![1.0;
                    2.0],
&nalgebra::dmatrix![],
&nalgebra::dmatrix![],
0.05,
);
let (is_controllable, controllability_matrix) = analysis::is_ss_controllable(&ss_model);

Examples found in repository

examples/controllability.rs (line 17)

fn main() -> Result<(), Box<dyn std::error::Error>> {
    let ss_model = model::DiscreteStateSpaceModel::from_matrices(
        &nalgebra::dmatrix![1.0, -2.0; 
                            2.0, 1.0],
        &nalgebra::dmatrix![1.0;
                            2.0],
        &nalgebra::dmatrix![],
        &nalgebra::dmatrix![],
        0.05,
    );

    let (is_controllable, controllability_matrix) = analysis::is_ss_controllable(&ss_model);

    if is_controllable {
        println!("The system is controllable");
        println!("Its controllability matrix is: {}", controllability_matrix);
    }

    Ok(())
}