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ethz-adrl / control-toolbox

The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control
BSD 2-Clause "Simplified" License
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Is this Control-toolbox package take lagged states and control inputs into consideration when calculating the derivative/Jacobian? #198

Open Daniel-Ming opened 3 years ago

Daniel-Ming commented 3 years ago

Is this ct package take lagged state and control input into consideration when calculating the derivative/Jacobian? Because our system ODE has 15 lag sizes for state and control input, I'm unsure whether this package can be used to simulate our system model.

markusgft commented 3 years ago

Hi, thanks for the interest in the CT! Could you please detail what you exactly mean with „lagged state“? Best

Am 25.07.2021 um 14:18 schrieb Daniel-Ming @.***>:

 Is this ct package take lagged state and control input into consideration when calculating the derivative/Jacobian? Because our system ODE has 15 lag sizes for state and control input, I'm unsure whether this package can be used to simulate our system model.

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Daniel-Ming commented 3 years ago

Our system model is a NARX type model which updates the system states depends on all previous 15 steps ago states and control inputs. According to the tutorial documentation in the Derivative/Jacobian session, the control-toolbox seems capable of handling the general ODE, which updates the system state depending on the previous 1 step ago state and control input.

markusgft commented 3 years ago

True, if you cannot rewrite your system as ODE, we cannot handle it!

Am 26.07.2021 um 02:03 schrieb Daniel-Ming @.***>:

 Our system model is a NARX type model which updates the system states depends on all previous 15 steps ago states and control inputs. According to the tutorial documentation in the Derivative/Jacobian session, the control-toolbox seems capable of handling the general ODE, which updates the system state depending on the previous 1 step ago state and control input.

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