systems.base.utils.EquilibriumHandler
systems.base.utils.EquilibriumHandler(nx, nu)Manages multiple equilibrium points for a dynamical system.
Stores equilibria as backend-neutral NumPy arrays and provides conversion to any backend on demand.
Attributes
| Name | Description |
|---|---|
| nu | Number of controls |
| nx | Number of states |
Methods
| Name | Description |
|---|---|
| add | Add named equilibrium point. |
| get_both | Get both state and control equilibria |
| get_metadata | Get metadata for equilibrium |
| get_u | Get equilibrium control in specified backend |
| get_x | Get equilibrium state in specified backend |
| list_names | List all equilibrium names |
| set_default | Set default equilibrium |
add
systems.base.utils.EquilibriumHandler.add(
name,
x_eq,
u_eq,
verify_fn=None,
tol=1e-06,
**metadata,
)Add named equilibrium point.
Args: name: Equilibrium name x_eq: Equilibrium state u_eq: Equilibrium control verify_fn: Optional function(x, u) -> dx to verify equilibrium tol: Tolerance for verification **metadata: Additional info (stability, description, etc.)
get_both
systems.base.utils.EquilibriumHandler.get_both(name=None, backend='numpy')Get both state and control equilibria
get_metadata
systems.base.utils.EquilibriumHandler.get_metadata(name=None)Get metadata for equilibrium
get_u
systems.base.utils.EquilibriumHandler.get_u(name=None, backend='numpy')Get equilibrium control in specified backend
get_x
systems.base.utils.EquilibriumHandler.get_x(name=None, backend='numpy')Get equilibrium state in specified backend
list_names
systems.base.utils.EquilibriumHandler.list_names()List all equilibrium names
set_default
systems.base.utils.EquilibriumHandler.set_default(name)Set default equilibrium