Struct StateSpaceModel 

pub struct StateSpaceModel {
    pub a: Vec<Vec<f64>>,
    pub b: Vec<Vec<f64>>,
    pub c: Vec<Vec<f64>>,
    pub d: Vec<Vec<f64>>,
    pub state: Vec<f64>,
    pub is_discrete: bool,
}

Continuous or discrete linear state-space model: ẋ = Ax + Bu, y = Cx + Du.

Fields

a: Vec<Vec<f64>>

State matrix (n×n).

b: Vec<Vec<f64>>

Input matrix (n×m).

c: Vec<Vec<f64>>

Output matrix (p×n).

d: Vec<Vec<f64>>

Feedthrough matrix (p×m).

state: Vec<f64>

Current state vector (length n).

is_discrete: bool

Whether this model is discrete-time.

Implementations

impl StateSpaceModel

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

Create a new state-space model.

pub fn set_state(&mut self, x0: Vec<f64>)

Set initial state.

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

Step the continuous system using Euler integration; returns output y.

pub fn discretize_zoh(&self, dt: f64) -> Self

Discretize using zero-order hold (ZOH) approximation.

pub fn n_states(&self) -> usize

Number of states.

pub fn n_inputs(&self) -> usize

Number of inputs.

pub fn n_outputs(&self) -> usize

Number of outputs.

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.