CatLab/Program.cs at master · bluhbipo/CatLab · GitHub

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using CatLab.blockat;
using CatLab.blockat.blocks;
using CatLab.catlab.catlabscript;
using CatLab.catlab.plot;

namespace CatLab.catlab;

public class Program
{
    public static void Main(string[] args)
    {
        CatLabScript.run("example.js");
    }

    public void controlExample()
    {
        LTI sys = new LTI();
        sys.A = new Matrix(2, 2) { Content = [3, 1, 2, -4] };
        sys.B = new Matrix([0, 1]);
        Matrix K = Control.place(sys, [-2, -2]);


        Simulation sim = new Simulation();

        Integrator integrator = new Integrator(sim, new Matrix([2, 1]));
        LTISystem system = new LTISystem(sim, sys);
        Gain gain = new Gain(sim, -K);
        Output output = new Output(sim);

        system.bindToInput(0, integrator, 0);

        system.setOutputDims(0,1,2);

        integrator.bindToInput(0, system, 0);
        integrator.bindToInput(0, gain, 0);

        integrator.setOutputDims(0,1,2);

        gain.bindToInput(0, system, 1);
        integrator.bindToInput(0, output, 0);

        Console.Out.WriteLine("running sim!");
        sim.run();
        Console.Out.WriteLine("sim done!");

        Console.Out.WriteLine(output.getSteadyState());

        Plotting.Plot(output.t,output.y);
        Console.Out.WriteLine("plotted!");
    }
}