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SystemPlant

oxirs_physics::control_systems

Struct SystemPlant 

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pub struct SystemPlant { /* private fields */ }
Expand description

Simple first-order system plant: dy/dt = (u - y) / tau.

State is integrated with forward Euler.

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impl SystemPlant

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pub fn new(tau: f64, initial: f64) -> Self

Create a new first-order plant.

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pub fn step(&mut self, input: f64, dt: f64) -> f64

Advance the plant by one time step with input u. Returns the new output y(t+dt).

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pub fn output(&self) -> f64

Current plant output without advancing time.

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