Trajectory¶

class RadTrajectory(l, T, param_original, bound_cond_type, actuation_type, n=80, sigma=1.1, K=2.0, **kwargs)[source]¶

Bases: pyinduct.trajectory.InterpolationTrajectory

Class that implements a flatness based control approach for the reaction-advection-diffusion equation

$\dot x(z,t) = a_2 x''(z,t) + a_1 x'(z,t) + a_0 x(z,t)$

with the boundary condition

bound_cond_type == "dirichlet": $x(0,t)=0$

A transition from $x'(0,0)=0$ to $x'(0,T)=1$ is considered.

With $x'(0,t) = y(t)$ where $y(t)$ is the flat output.

bound_cond_type == "robin": $x'(0,t) = \alpha x(0,t)$

A transition from $x(0,0)=0$ to $x(0,T)=1$ is considered.

With $x(0,t) = y(t)$ where $y(t)$ is the flat output.