baggepinnen / seetodee.jl

A small step for dynamics, a giant leap for SciML

SeeToDee

SeeToDee implements low-overhead, nonlinear variants of the classical c2d function from ControlSystems.jl.

Given a continuous-time dynamics function

$$\dot x = f(x, u, p, t)$$

this package contains integrators that convert the continuous-time dynamics into a discrete-time dynamics function

$$x_{t+T_s} = f(x_t, u_t, p, t)$$

that advances the state from time $t$ to time $t+T_s$, with a Zero-order-Hold (ZoH) assumption on the input $u$.

The integrators in this package focus on

• Low overhead for single-step integration, i.e., no solution handling, no interpolation, nothing fancy at all.
• Fixed time step. All integrators are non-adaptive, i.e., the integrators do not change their step size using error control. This typically makes the integrator have a more predictable runtime. It also reduces overhead without affecting accuracy in situations when the fixed step-size is small in relation to what would be required to meet the desired accuracy.
• Dirt-simple interface, i.e., you literally use the integrator as a function x⁺ = f(x, u, p, t) that you can call in a loop etc. to perform simulations.
• Inputs are first class, i.e., the signature of the dynamics take input signals (such as controlled inputs or disturbance inputs) as arguments.
• Most things are manual. Want to simulate a trajectory? Write a loop!

seetodee.jl's Issues

TagBot trigger issue

This issue is used to trigger TagBot; feel free to unsubscribe.

If you haven't already, you should update your TagBot.yml to include issue comment triggers.
Please see this post on Discourse for instructions and more details.

If you'd like for me to do this for you, comment TagBot fix on this issue.
I'll open a PR within a few hours, please be patient!

Name of the package

Where does the package name come from?