#include <lti.hpp> int main() { int nx = 2, nu = 2, ny = 2; Eigen::MatrixXd A(nx, nx); Eigen::MatrixXd B(nx, nu); Eigen::MatrixXd C(ny, nx); Eigen::MatrixXd D(ny, nu); A.setRandom(); B.setRandom(); C.setIdentity(); D.setZero(); //---------------------------------------- // Continuous LTI state space representation // der(x) = Ax + Bu; // y = Cx + Du; //---------------------------------------- lti::css sys_c(A, B, C, D); //---------------------------------------- // Discrete LTI state space representation // x(k+1) = A(k) + Bu(k); // y(k) = Cx(k) + D(k); //---------------------------------------- double dt = 0.001; lti::dss sys_d(A, B, C, D, dt); //--------------------------------- // Create a transfer function // s + 2 // Y/U = ----------- // s^2 + 2s + 3 //--------------------------------- Eigen::ArrayXd num(2); Eigen::ArrayXd den(3); num << 1, 2; den << 1, 2, 3; lti::tf sys3(num, den); using namespace lti; lti::tf sys4 = (s + 1) / (s * s + 2 * s + 1); std::cout << sys1 << "\n"; std::cout << sys2 << "\n"; std::cout << sys3 << "\n"; std::cout << sys4 << "\n"; }