systems.builtin.deterministic.discrete.DiscreteDoubleIntegratorWithForce
systems.builtin.deterministic.discrete.DiscreteDoubleIntegratorWithForce(
*args,
**kwargs,
)Discrete double integrator with explicit force input and mass.
This is a convenience alias that creates a DiscreteDoubleIntegrator with use_force_input=True, making the mass parameter explicit in the dynamics.
Dynamics: p[k+1] = p[k] + dt·v[k] + 0.5·dt²·F[k]/m v[k+1] = v[k] + dt·F[k]/m
See DiscreteDoubleIntegrator for full documentation.
Methods
| Name | Description |
|---|---|
| define_system | Define double integrator with force input. |
define_system
systems.builtin.deterministic.discrete.DiscreteDoubleIntegratorWithForce.define_system(
dt=0.1,
mass=1.0,
method='zoh',
)Define double integrator with force input.
Parameters
| Name | Type | Description | Default |
|---|---|---|---|
| dt | float | Sampling time [s] | 0.1 |
| mass | float | System mass [kg] | 1.0 |
| method | str | Discretization method | 'zoh' |