control.flatsys.BasisFamily¶

class control.flatsys.BasisFamily(N)¶

Bases: object

Base class for implementing basis functions for flat systems.

A BasisFamily object is used to construct trajectories for a flat system. The class must implement a single function that computes the jth derivative of the ith basis function at a time t:

$z_i^{(q)}(t)$ = basis.eval_deriv(self, i, j, t)

Parameters: N (int) – Order of the basis set.

Methods

eval_deriv

__call__(i, t)¶: Evaluate the ith basis function at a point in time