rcacRlsFlags Struct Reference
#include <RCACRLS.hpp>
Public Attributes | |
| int | lz |
| int | ly |
| int | lu |
| int | Nc |
| Eigen::VectorXd | theta_0 |
| int | filtorder |
| int | k_0 |
| double | lambda |
| Eigen::MatrixXd | P0 |
| Eigen::MatrixXd | Ru |
| Eigen::MatrixXd | Rz |
Detailed Description
This struct contains the basic parameters needed for RLS RCAC to work.
- Parameters
-
lz Number of performance measurements ly Number of sensor measurements lu Number of control inputs Nc Controller order theta_0 Eigen vector with initial controller coefficients. Usually a vector of zeros filtorder Order of the filter ( 
) k_0 Minimum number of steps to run before starting the controller (usually k_0 = Nc) lambda Forgetting factor for RLS P0 Matrix containing the initial value for the covariance matrix of RLS (P0 = Rtheta^-1) Size is ltheta by ltheta where ltheta = Nc*lu(lu+ly) Ru Matrix containing a weighting on the control effort. Size is lu by lu. Currently broken, set as a zero matrix Rz Matrix containing a weghting on the performance measurement. Size is lz by lz.
The documentation for this struct was generated from the following file:
