Features

Lodestar's feature list.

• Automatic resolution of circular data-dependencies (algebraic loops).
• Transparent compile-time error checking, as well as run-time checks prior to executing code.
• Easy extensibility with a simple yet powerful Block API based on template metaprogramming.
• Clean C++ code generation with predetermined function execution order, as well as resolved data-dependencies.
• Zero-overhead abstraction using templated classes; it does not matter if you have a thousand inputs, or just one.
• Out-of-the-box networking support, with efficient serialization.
• Automatic direct encryption and decryption of messages for enhanced security using state-of-the-art elliptic curve algorithms.

Control Routines #

For now, this section will be a checkboxed list; more details will follow. We adhere in most cases to the classification system used in SLICOT¹. Cursive identifiers are extensions to the SLICOT system that we devised for additional features that Lodestar provides.

• A: Analysis Routines

  • AB: State-Space Analysis
    • AB04: Continuous/Discrete Time
      • AB04MD: Discrete-time <-> continuous-time conversion by bilinear transformation. - Generalized bilinear transformations have been implemented, with specialization for Tustin, Euler, and backward differencing transforms.
        ls::analysis::BilinearTransformation - Beyond the SLICOT spec, zero-order hold transformations based on exponential and logarithmic matrices have been implemented.
        ls::analysis::ZeroOrderHold
    • AB07: Inverse and Dual Systems
      • AB07ND: Inverse of a given state-space representation
        • Continuous-time state space inverses have been implement, but error handling is not properly done.
          ls::analysis::LinearSystemInverse

• F: Filtering

  • FB: Kalman Filters
    • FB01: N/A
      • FB01VD: One recursion of the conventional Kalman filter - We currently have an implementation for finite horizon Kalman gain computation for discrete-time linear time invariant systems.
        ls::filter::DiscreteLQE

• S: Synthesis Routines

  • SB: State-Space Synthesis
    • SB02: Riccati Equations
      • SB02MD: Solution of continuous- or discrete-time algebraic Riccati equations (Schur vectors method) - A discrete-time ARE solver is currently in development.
        ls::synthesis::AlgebraicRiccatiEquation::solveDARE

• T: Transformation Routines

  • TD: Rational Matrix
    • TD05: Rational Matrix to State-Space Conversion
      • TD05AD: Minimal state-space representation for a proper transfer matrix - This is currently implemented for scalar transfer functions, but can easily be extended to transfer function matrices.
        ls::systems::TransferFunction::toStateSpace

• U: Utility Routines

  • UD: Numerical Data Handling
    • UD01: N/A
      • UD01BD: Reading a matrix polynomial
        • This is achieved using GiNaC² routines; currently only scalar transfer functions are implemented, but this is easily extendable.
          ls::systems::TransferFunction::copyFromExpression
  • US: Symbolic Manipulation/Data Handling
    • US01: Ordinary Differential Equations