Model ElementThe
POUTPUT element defines the outputs from a mechanical system or
plant.
Description
This is part of the information necessary to create a linearized model of the plant or for
co-simulation. You also need to specify the inputs to the plant using the
PINPUT element. Given the inputs and outputs, you may use the
Simulate command of type Linear to compute the matrices in the following linearized,
state space form:
(1)
x(t) are the states, u(t) are the inputs, and y(t) are the outputs. A, B, C, and D denote the
state matrix, the input matrix, the output matrix, and the direct feed-through
matrix, respectively. These matrices are often useful as a starting point in control
systems design.
Attribute Summary
Name |
Property |
Modifiable by
command? |
Designable? |
id |
Int
() |
|
NO |
label |
Str
() |
|
variables |
Reference ("Variable", count=0) |
|
hold_order |
Int
(-1) |
Yes |
sampling_period |
Double () |
Yes |
offset_time |
Double () |
Yes |
Usage
Poutput (variables=list, optional arguments)
Attributes
- variables
- List of existing Variables
- Specifies the list Variables that define the outputs from the plant.
- This attribute is mandatory.
- id
- Element identification number (integer > 0). This number is unique among all the
Poutput elements.
- label
- The name of the Poutput element.
- hold_order
- Int
- Specifies the order of interpolation applied to the control signal(s)
propagating out from Control_PlantInput. The default
value is 1.0.
- sampling_period
- Double
- Specifies the sample time of an output port. A value of 0.0 specifies
continuous sampling while any other non-zero value specifies discrete
sampling. This value cannot be negative. The default value is 0.0. In most
cases, this value need not be changed from its default, except in models
where a discrete sampling is required. This parameter is to be used only in
the case of co-simulation with MATLAB/Simulink.
- offset_time
- Double
- Specifies the sample time offset for each output port. The sample time
offset must be strictly less than the sampling_period if
the latter is non-zero. If the sampling_period is 0.0
(continuous), then offset_time defaults to 0.0 as well.
In most cases, this value need not be changed from its default, except in
models where a discrete sampling is required. This parameter is to be used
only in case of co-simulation with MATLAB/Simulink.
Example
Create a
Poutput with two variables: an angle and an angular
velocity.
var1 = Variable ( function="AZ(21,11)", label="Joint Angle")
var2 = Variable ( function="WZ(21,11,11)", label="Joint Angular Velocity")
pin1 = Poutput (label="Joint Angle & Velocity", variables=[var1, var2])