control.flatsys.BasisFamily¶
- class control.flatsys.BasisFamily(N)[source]¶
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:
= basis.eval_deriv(self, i, j, t)
A basis set can either consist of a single variable that is used for each flat output (nvars = None) or a different variable for different flat outputs (nvars > 0).
- N¶
Order of the basis set.
- Type
int
Methods
Compute function values given the coefficients and time points.
Evaluate the kth derivative of the ith basis function at time t.
Get the number of coefficients for a variable
- eval(coeffs, tlist, var=None)[source]¶
Compute function values given the coefficients and time points.