types.core.TimeVaryingControl

types.core.TimeVaryingControl

Time-varying control function u(t).

Maps time to control action: u = u_func(t).

This is useful for pre-planned control trajectories or time-scheduled controllers where the control depends explicitly on time.

Parameters

Name	Type	Description	Default
t	float	Current time	required

Returns

Name	Type	Description
	ControlVector	Control action (nu,) at time t

Examples

>>> # Sinusoidal control
>>> def sine_control(t: float) -> ControlVector:
...     return np.array([np.sin(t)])
>>> 
>>> # Exponential decay
>>> def decaying_control(t: float) -> ControlVector:
...     return u0 * np.exp(-t / tau)
>>> 
>>> # Piecewise constant
>>> def switched_control(t: float) -> ControlVector:
...     if t < 5.0:
...         return np.array([1.0])
...     else:
...         return np.array([-1.0])
>>> 
>>> # Use in integration
>>> result = system.integrate(x0, u=sine_control, t_span=(0, 10))

See Also

ControlPolicy : State-feedback control u = π(x) FeedbackController : Combined state-time feedback u = π(x, t)