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Examples.SimpleLQR.md

Examples.SimpleLQR ​

Usage ​

DiscreteComponents.Examples.SimpleLQR()

Behavior ​

Source ​

dyad
component SimpleLQR
  zeroorderhold = DiscreteComponents.ZeroOrderHold() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 380, "y1": 320, "x2": 470, "y2": 410, "rot": 0}
      },
      "tags": []
    }
  }
  sampler = DiscreteComponents.Sampler() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 720, "y1": 460, "x2": 630, "y2": 550, "rot": 270}
      },
      "tags": []
    }
  }
  periodicclock = DiscreteComponents.PeriodicClock(dt = 0.1) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 860, "y1": 700, "x2": 950, "y2": 790, "rot": 0}
      },
      "tags": []
    }
  }
  integrator = BlockComponents.Continuous.Integrator() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 530, "y1": 310, "x2": 630, "y2": 410, "rot": 0}
      },
      "tags": []
    }
  }
  integrator1 = BlockComponents.Continuous.Integrator() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 760, "y1": 310, "x2": 860, "y2": 410, "rot": 0}
      },
      "tags": []
    }
  }
  "Feedback gain"
  mux = DiscreteComponents.Examples.Mux() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 650, "y1": 600, "x2": 570, "y2": 680, "rot": 0}
      },
      "tags": []
    }
  }
  sampler1 = DiscreteComponents.Sampler() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 870, "y1": 460, "x2": 950, "y2": 540, "rot": 90}
      },
      "tags": []
    }
  }
  matrixgain = DiscreteComponents.Examples.MatrixGain(ny = 1, K = [[1, 1]]) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 510, "y1": 590, "x2": 410, "y2": 690, "rot": 0}
      },
      "tags": []
    }
  }
  "Picks a scalar index from an array"
  selector = DiscreteComponents.Examples.Selector() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 260, "y1": 480, "x2": 360, "y2": 580, "rot": 270}
      },
      "tags": []
    }
  }
relations
  connect(integrator.y, sampler.u, integrator1.u) {
    "Dyad": {
      "edges": [
        {"S": 1, "M": [], "E": -1},
        {"S": 2, "M": [{"x": 675, "y": 410}, {"x": 670, "y": 410}], "E": -1},
        {"S": -1, "M": [], "E": 3}
      ],
      "junctions": [{"x": 670, "y": 360}],
      "renderStyle": "standard"
    }
  }
  connect(sampler.y, mux.u1, periodicclock.y) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 675, "y": 619.2}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(sampler1.y, mux.u2) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 910, "y": 660.8}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(integrator1.y, sampler1.u) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 910, "y": 360}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(zeroorderhold.y, integrator.u) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 497.95, "y": 365}, {"x": 497.95, "y": 360}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(mux.y, matrixgain.u) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(matrixgain.y, selector.u) {
    "Dyad": {
      "renderStyle": "standard",
      "edges": [{"S": 1, "M": [{"x": 310, "y": 640}], "E": 2}]
    }
  }
  connect(selector.y, zeroorderhold.u) {
    "Dyad": {
      "renderStyle": "standard",
      "edges": [{"S": 1, "M": [{"x": 310, "y": 365}], "E": 2}]
    }
  }
  connect(sampler1.y, mux.u2, periodicclock.y) {
    "Dyad": {
      "edges": [
        {"S": 1, "M": [{"x": 910, "y": 660}], "E": -1},
        {"S": -1, "M": [{"x": 713.4, "y": 660}, {"x": 713.4, "y": 660.8}], "E": 2},
        {"S": 3, "M": [{"x": 830, "y": 745}], "E": -1}
      ],
      "junctions": [{"x": 830, "y": 660}],
      "renderStyle": "standard"
    }
  }
metadata {
  "Dyad": {
    "experiments": {},
    "tests": {},
    "labels": [],
    "icons": {"default": "dyad://Dyad/Default.svg"},
    "path": {},
    "doc": {"behavior": true}
  }
}
end
Flattened Source
dyad
component SimpleLQR
  zeroorderhold = DiscreteComponents.ZeroOrderHold() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 380, "y1": 320, "x2": 470, "y2": 410, "rot": 0}
      },
      "tags": []
    }
  }
  sampler = DiscreteComponents.Sampler() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 720, "y1": 460, "x2": 630, "y2": 550, "rot": 270}
      },
      "tags": []
    }
  }
  periodicclock = DiscreteComponents.PeriodicClock(dt = 0.1) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 860, "y1": 700, "x2": 950, "y2": 790, "rot": 0}
      },
      "tags": []
    }
  }
  integrator = BlockComponents.Continuous.Integrator() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 530, "y1": 310, "x2": 630, "y2": 410, "rot": 0}
      },
      "tags": []
    }
  }
  integrator1 = BlockComponents.Continuous.Integrator() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 760, "y1": 310, "x2": 860, "y2": 410, "rot": 0}
      },
      "tags": []
    }
  }
  "Feedback gain"
  mux = DiscreteComponents.Examples.Mux() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 650, "y1": 600, "x2": 570, "y2": 680, "rot": 0}
      },
      "tags": []
    }
  }
  sampler1 = DiscreteComponents.Sampler() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 870, "y1": 460, "x2": 950, "y2": 540, "rot": 90}
      },
      "tags": []
    }
  }
  matrixgain = DiscreteComponents.Examples.MatrixGain(ny = 1, K = [[1, 1]]) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 510, "y1": 590, "x2": 410, "y2": 690, "rot": 0}
      },
      "tags": []
    }
  }
  "Picks a scalar index from an array"
  selector = DiscreteComponents.Examples.Selector() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 260, "y1": 480, "x2": 360, "y2": 580, "rot": 270}
      },
      "tags": []
    }
  }
relations
  connect(integrator.y, sampler.u, integrator1.u) {
    "Dyad": {
      "edges": [
        {"S": 1, "M": [], "E": -1},
        {"S": 2, "M": [{"x": 675, "y": 410}, {"x": 670, "y": 410}], "E": -1},
        {"S": -1, "M": [], "E": 3}
      ],
      "junctions": [{"x": 670, "y": 360}],
      "renderStyle": "standard"
    }
  }
  connect(sampler.y, mux.u1, periodicclock.y) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 675, "y": 619.2}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(sampler1.y, mux.u2) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 910, "y": 660.8}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(integrator1.y, sampler1.u) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 910, "y": 360}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(zeroorderhold.y, integrator.u) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 497.95, "y": 365}, {"x": 497.95, "y": 360}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(mux.y, matrixgain.u) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(matrixgain.y, selector.u) {
    "Dyad": {
      "renderStyle": "standard",
      "edges": [{"S": 1, "M": [{"x": 310, "y": 640}], "E": 2}]
    }
  }
  connect(selector.y, zeroorderhold.u) {
    "Dyad": {
      "renderStyle": "standard",
      "edges": [{"S": 1, "M": [{"x": 310, "y": 365}], "E": 2}]
    }
  }
  connect(sampler1.y, mux.u2, periodicclock.y) {
    "Dyad": {
      "edges": [
        {"S": 1, "M": [{"x": 910, "y": 660}], "E": -1},
        {"S": -1, "M": [{"x": 713.4, "y": 660}, {"x": 713.4, "y": 660.8}], "E": 2},
        {"S": 3, "M": [{"x": 830, "y": 745}], "E": -1}
      ],
      "junctions": [{"x": 830, "y": 660}],
      "renderStyle": "standard"
    }
  }
metadata {
  "Dyad": {
    "experiments": {},
    "tests": {},
    "labels": [],
    "icons": {"default": "dyad://Dyad/Default.svg"},
    "path": {},
    "doc": {"behavior": true}
  }
}
end


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