control.flatsys.SystemTrajectory

class control.flatsys.SystemTrajectory(sys, basis, coeffs=[], flaglen=[])

Bases: object

Class representing a system trajectory.

The SystemTrajectory class is used to represent the trajectory of a (differentially flat) system. Used by the point_to_point() function to return a trajectory.

Parameters
  • sys (FlatSystem) – Flat system object associated with this trajectory.

  • basis (BasisFamily) – Family of basis vectors to use to represent the trajectory.

  • coeffs (list of 1D arrays, optional) – For each flat output, define the coefficients of the basis functions used to represent the trajectory. Defaults to an empty list.

  • flaglen (list of ints, optional) – For each flat output, the number of derivatives of the flat output used to define the trajectory. Defaults to an empty list.

Methods

eval

Return the state and input for a trajectory at a list of times.

eval(tlist)

Return the state and input for a trajectory at a list of times.

Evaluate the trajectory at a list of time points, returning the state and input vectors for the trajectory:

x, u = traj.eval(tlist)

Parameters

tlist (1D array) – List of times to evaluate the trajectory.

Returns

  • x (2D array) – For each state, the values of the state at the given times.

  • u (2D array) – For each input, the values of the input at the given times.