Struct StateSpaceModel 

pub struct StateSpaceModel {
    pub a: Vec<f64>,
    pub b: Vec<f64>,
    pub c: Vec<f64>,
    pub d: Vec<f64>,
    pub n: usize,
    pub m: usize,
    pub p: usize,
    pub state: Vec<f64>,
}

Discrete-time linear state-space model: x[k+1] = Ax[k] + Bu[k], y[k] = Cx[k] + Du[k].

Matrices are stored row-major. Dimensions: A is n×n, B is n×m, C is p×n, D is p×m.

Fields

a: Vec<f64>

State matrix A (n×n), row-major.

b: Vec<f64>

Input matrix B (n×m), row-major.

c: Vec<f64>

Output matrix C (p×n), row-major.

d: Vec<f64>

Feedthrough matrix D (p×m), row-major.

n: usize

Number of states n.

m: usize

Number of inputs m.

p: usize

Number of outputs p.

state: Vec<f64>

Current state vector (length n).

Implementations

impl StateSpaceModel

pub fn new( a: Vec<f64>, b: Vec<f64>, c: Vec<f64>, d: Vec<f64>, n: usize, m: usize, p: usize, ) -> Self

Create a new state-space model.

Panics

Panics if matrix dimensions are inconsistent.

pub fn step(&mut self, u: &[f64]) -> Vec<f64>

Step the system: apply input u (length m), advance state, return output y (length p).

pub fn step_response(&mut self, steps: usize) -> Vec<(f64, f64)>

Compute step response: apply unit step input 0→1, collect outputs for steps steps. Returns a vector of (time, y[0]) pairs.

pub fn is_stable(&self) -> bool

Check stability: all eigenvalues of A must lie strictly inside the unit disk (discrete). Uses power iteration / Gershgorin estimate for small systems. Returns true if stable (all |λ| < 1).

pub fn reset(&mut self)

Reset state to zero.

Trait Implementations

impl Clone for StateSpaceModel

fn clone(&self) -> StateSpaceModel

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for StateSpaceModel

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.