demo_content_en.yml

enums:
  Controllability: [ Controllable, NotControllable]
  Observability: [Observable, NotObservable]
  Stability: [Stable, Unstable]
  CanonicalForm: [ControllerCanonicalForm, ObserverCanonicalForm]
  Linear: [Linear, NonLinear]
  Proper: [NotProper, Proper, StrictlyProper]
  MinimumPhase: [MinimumPhase, NotMinimumPhase]
  Coprime: [Coprime, NonCoprime]
  MatrixRole: [A, B, C, D, StateFeedback, LuenbergerGain]
  TimeFunctionRole: [StateTrajectory, InputTrajectory, StateFeedback]
  TFRole: [Plant, Controller]
  Flatness: [OutputFlat, OutputNotFlat]

types:
  Real: {}
  SSNonLinear:
    params:
      StateDimension:
        type: Int
      InputDimension:
        type: Int
      Observability:
        type: Observability
      Controllability:
        type: Controllability
      Flatness:
        type: Flatness
  SSLTV:
    params:
      StateDimension:
        type: Int
      InputDimension:
        type: Int
      Observability:
        type: Observability
      Controllability:
        type: Controllability
  SSLTI:
    params:
      StateDimension:
        type: Int
      InputDimension:
        type: Int
      Stability:
        type: Stability
      CanonicalForm:
        type: CanonicalForm
      Observability:
        type: Observability
      Controllability:
        type: Controllability
  ODE:
    params:
      Order:
        type: Int
      Linear:
        type: Linear
  TF:
    params:
      Stability:
        type: Stability
      Proper:
        type: Proper
      MinimumPhase:
        type: MinimumPhase
      Coprime:
        type: Coprime
      Order:
        type: Int
      Role:
        type: TFRole
  ListEigenvalues:
    params:
      Length:
        type: Int
  PIDParameters: {}
  Matrix:
    params:
      Rows:
        type: Int
      Columns:
        type: Int
      Role:
        type: MatrixRole
  TimeFunction:
    params:
      Rows:
        type: Int
      Columns:
        type: Int
      Role:
        type: TimeFunctionRole
  ObserverFunction:
    params:
      StateDimension:
        type: Int
      InputDimension:
        type: Int
      OutputDimension:
        type: Int
  TrajectoryTrackingController:
    params:
      StateDimension:
        type: Int
      InputDimension:
        type: Int
  StepResponse: {}


methods:
  Linearization:
    inputs:
      nonLinearSystem:
        type: SSNonLinear
        params:
          StateDimension: n
    outputs:
      o:
        linearizedSystem:
          type: SSLTI
          params:
            StateDimension: n
  SSLTIToNonLinear:
    inputs:
      linearSystem:
        type: SSLTI
        params:
          StateDimension: n
    outputs:
      o:
        generalSystem:
          type: SSNonLinear
          params:
            StateDimension: n
  SSLTVToNonLinear:
    inputs:
      linearSystem:
        type: SSLTV
        params:
          StateDimension: n
    outputs:
      o:
        generalSystem:
          type: SSNonLinear
          params:
            StateDimension: n
  ToControllerCanonicalForm:
    inputs:
      ltiss:
        type: SSLTI
        params:
          Controllability: Controllable
    outputs:
      o:
        ltiss:
          type: SSLTI
          params:
            CanonicalForm: ControllerCanonicalForm
  ToObserverCanonicalForm:
    inputs:
      ltiss:
        type: SSLTI
        params:
          Observability: Observable
    outputs:
      o:
        ltiss:
          type: SSLTI
          params:
            CanonicalForm: ObserverCanonicalForm
  TestControllabilityLTI:
    inputs:
      ltiss:
        type: SSLTI
        params:
          Controllability: unset
    outputs:
      controllable:
        ltiss:
          type: SSLTI
          params:
            Controllability: Controllable
      notControllable:
        ltiss:
          type: SSLTI
          params:
            Controllability: NotControllable
  TestObservabilityLTI:
    inputs:
      ltiss:
        type: SSLTI
        params:
          Observability: unset
    outputs:
      observable:
        ltiss:
          type: SSLTI
          params:
            Observability: Observable
      notObservable:
        ltiss:
          type: SSLTI
          params:
            Observability: NotObservable
  TestControllabilityLTV:
    inputs:
      ssltv:
        type: SSLTV
        params:
          Controllability: unset
    outputs:
      controllable:
        ssltv:
          type: SSLTV
          params:
            Controllability: Controllable
      notControllable:
        ssltv:
          type: SSLTV
          params:
            Controllability: NotControllable
  TestObservabilityLTV:
    inputs:
      ssltv:
        type: SSLTV
        params:
          Observability: unset
    outputs:
      observable:
        ssltv:
          type: SSLTV
          params:
            Observability: Observable
      notObservable:
        ssltv:
          type: SSLTV
          params:
            Observability: NotObservable
  TestControllabilityNonLinear:
    inputs:
      ss:
        type: SSNonLinear
        params:
          Controllability: unset
    outputs:
      controllable:
        ss:
          type: SSNonLinear
          params:
            Controllability: Controllable
      notControllable:
        ss:
          type: SSNonLinear
          params:
            Controllability: NotControllable
      undetermined:
        ss:  # can't be determined
          type: SSNonLinear
          params:
            Controllability: unset
  TestObservabilityNonLinear:
    inputs:
      ss:
        type: SSNonLinear
        params:
          Observability: unset
    outputs:
      observable:
        ss:
          type: SSNonLinear
          params:
            Observability: Observable
      notObservable:
        ss:
          type: SSNonLinear
          params:
            Observability: NotObservable
      undetermined:
        ss:  # can't be determined
          type: SSNonLinear
          params:
            Observability: unset
  TFtoSS:
    inputs:
      tf:
        type: TF
        params:
          Proper: Proper
          Order: n
    outputs:
      o:
        ltiss:
          type: SSLTI
          params:
            Controllability: Controllable
            CanonicalForm: ControllerCanonicalForm
            StateDimension: n
  SStoTF:
    inputs:
      ltiss:
        type: SSLTI
        params:
          StateDimension: n
          InputDimension: 1
    outputs:
      o:
        tf:
          type: TF
          params:
            Order: n
            Role: Plant
  TestTFStability:
    inputs:
      tf:
        type: TF
        params:
          Stability: unset
    outputs:
      stable:
        tf:
          type: TF
          params:
            Stability: Stable
      unstable:
        tf:
          type: TF
          params:
            Stability: Unstable
  TestTFProperness:
    inputs:
      tf:
        type: TF
        params:
          Proper: unset
    outputs:
      proper:
        tf:
          type: TF
          params:
            Proper: Proper
      improper:
        tf:
          type: TF
          params:
            Proper: NotProper
  TestTFCoprime:
    inputs:
      tf:
        type: TF
        params:
          Coprime: unset
    outputs:
      coprime:
        tf:
          type: TF
          params:
            Coprime: Coprime
      nonCoprime:
        tf:
          type: TF
          params:
            Coprime: NonCoprime
  PolePlacement:
    inputs:
      ltiss:
        type: SSLTI
        params:
          StateDimension: n
          Controllability: Controllable
      poles:
        type: ListEigenvalues
        params:
          Length: n
        tune: true
    outputs:
      o:
        k:
          type: Matrix
          params:
            Rows: 1
            Columns: n
            Role: StateFeedback
  LuenbergerDesign:
    inputs:
      ltiss:
        type: SSLTI
        params:
          StateDimension: n
          Observability: Observable
      poles:
        type: ListEigenvalues
        params:
          Length: n
        tune: true
    outputs:
      o:
        k:
          type: Matrix
          params:
            Rows: n
            Columns: 1
            Role: LuenbergerGain
  AssembleLuenbergerObserver:
    inputs:
      ltiss:
        type: SSLTI
        params:
          StateDimension: n
          Observability: Observable
      k:
        type: Matrix
        params:
          Role: LuenbergerGain
    outputs:
      o:
        obs:
          type: ObserverFunction
  ODEtoSS:
    inputs:
      ode:
        type: ODE
    outputs:
      o:
        ss:
          type: SSNonLinear
  TrajectoryPlanningWithOptimization:
    inputs:
      ss:
        type: SSNonLinear
        params:
          StateDimension: n
          InputDimension: m
          Controllability: Controllable
      xstart:
        type: Matrix
        params:
          Rows: n
          Columns: 1
        tune: true
      xend:
        type: Matrix
        params:
          Rows: n
          Columns: 1
        tune: true
      tend:
        type: Real
        tune: true
    outputs:
      o:
        xtraj:
          type: TimeFunction
          params:
            Rows: n
            Columns: 1
            Role: StateTrajectory
        utraj:
          type: TimeFunction
          params:
            Rows: m
            Columns: 1
            Role: InputTrajectory
  LinearizationOnTrajectory:
    inputs:
      ss:
        type: SSNonLinear
        params:
          StateDimension: n
          InputDimension: m
          Controllability: s
      xtraj:
        type: TimeFunction
        params:
          Rows: n
          Columns: 1
          Role: StateTrajectory
      utraj:
        type: TimeFunction
        params:
          Rows: m
          Columns: 1
          Role: InputTrajectory
    outputs:
      o:
        ssltv:
          type: SSLTV
          params:
            StateDimension: n
            InputDimension: m
            Controllability: s
  LTVLQRDesign:
    inputs:
      ssltv:
        type: SSLTV
        params:
          StateDimension: n
          InputDimension: m
          Controllability: Controllable
      q:
        type: Matrix
        params:
          Rows: n
          Columns: n
        tune: true
      r:
        type: Matrix
        params:
          Rows: m
          Columns: m
        tune: true
    outputs:
      o:
        k:
          type: TimeFunction
          params:
            Rows: m
            Columns: n
            Role: StateFeedback
  LTILQRDesign:
    inputs:
      sslti:
        type: SSLTI
        params:
          StateDimension: n
          InputDimension: m
          Controllability: Controllable
      q:
        type: Matrix
        params:
          Rows: n
          Columns: n
        tune: true
      r:
        type: Matrix
        params:
          Rows: m
          Columns: m
        tune: true
    outputs:
      o:
        k:
          type: Matrix
          params:
            Rows: m
            Columns: n
            Role: StateFeedback
  EKFDesign:
    inputs:
      ss:
        type: SSNonLinear
        params:
          Observability: Observable
          StateDimension: n
          InputDimension: m
      q:
        type: Matrix
        params:
          Rows: n
          Columns: n
        tune: true
      r:
        type: Matrix
        params:
          Rows: m
          Columns: m
        tune: true
    outputs:
      o:
        obs:
          type: ObserverFunction
          params:
            StateDimension: n
            InputDimension: m
  AssembleTrajectoryTrackingController:
    inputs:
      xtraj:
        type: TimeFunction
        params:
          Role: StateTrajectory
          Rows: n
          Columns: 1
      utraj:
        type: TimeFunction
        params:
          Role: InputTrajectory
          Rows: m
          Columns: 1
      k:
        type: TimeFunction
        params:
          Role: StateFeedback
          Rows: m
          Columns: n
      obs:
        type: ObserverFunction
        params:
          InputDimension: m
          StateDimension: n
    outputs:
      o:
        controller:
          type: TrajectoryTrackingController
          params:
            StateDimension: n
            InputDimension: m
  AssemblePIDController:
    inputs:
      pidParams:
        type: PIDParameters
    outputs:
      o:
        pid:
          type: TF
          params:
            Role: Controller
  TuneZieglerNichols:
    inputs:
      stepResponse:
        type: StepResponse
    outputs:
      o:
        pidParams:
          type: PIDParameters
  TuneAbsoluteValueOptimum:
    inputs:
      tf:
        type: TF
        params:
          Role: Plant
    outputs:
      o:
        pidParams:
          type: PIDParameters
  TuneSymmetricalOptimum:
    inputs:
      tf:
        type: TF
        params:
          Role: Plant
    outputs:
      o:
        pidParams:
          type: PIDParameters
  SimulateStepResponse:
    inputs:
      tf:
        type: TF
        params:
          Role:
            Plant
    outputs:
      o:
        sr:
          type: StepResponse