Controlpp

A modern C++ library for control systems: from classic transfer-function workflows to state-space, estimators, and optimal control. Design continuous or discrete controllers, run time-variant logic, and bring in LQR, Kalman filtering, and even H₂ synthesis building blocks.

Features:

• Transfer Functions
  Work directly with continuous and discrete transfer functions, numerator/denominator polynomials, zeros/poles, and conversions.
• State Space
  Model systems in state-space or transfer functions
• Continuous <--> Discrete transformations
  Switch domains as needed with zero order hold or tustin in a type save manner:
  s -- zero-order hold --> z -- inverser-bilinear (tustin) --> q -- bilinear (tustin) --> z
• Time-Variant Controllers
  Have high jitter or changing sampling rates? E.g.: Controlling with a sensor (e.g.: camera) that changes its and sampling rate (ROI)? The time variant controllers offer you two inputs: the value and the sample-time.
• Modern Controllers & Optimal Control
  Includes linear-quadratic controller support and estimation tooling (LQR / Kalman), with room to extend into H2/H-inf synthesis.
• Identification & Estimation Recursive Least Squares and Kalman filters to estimate parameters and states, ready to slot into your controller pipelines.

Quick start

CMake and CPM.cmake

Read more about CMake (build file generator) CPM.cmake (package manager) here.

# include the package manager
include(cmake/CPM.cmake)

# add the package
CPMAddPackage("gh:TobiasWallner/Controlpp#main")

# create your project executable
add_executable(my_app src/main.cpp)

# link the library
target_link_libraries(my_app PRIVATE controlpp)

Example:

#include <controlpp.hpp>

int main(){
    const auto s controlpp::tf::s<float>;

    // define a PT2 element:
    const float f = 1000;
    const float omega = 2 * 3.1415 * f;
    const float D = 0.3;
    const auto PT2_s = 1 / (1 + 2 * D * s / omega + (s * s) / (omega * omega));

    // convert from transfer function to state space
    const auto PT2_ss = to_state_space(PT2_s);

    // convert from s (continuous) to z (discrete) domain
    const float Ts = 1.0/10'000.0;
    const auto PT2_z = s_to_z(PT2_ss, Ts);
}

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Set your CMake default compiler

On Linux:

Add to ~/.bashrc, ~/.zshrc or the config script of your terminal:

export CC=/path/to/gcc
export CXX=/path/to/g++

likely path: /usr/bin/.

On Windows:

add the environment variables

setx CC "\path\to\gcc.exe"
setx CXX "\path\to\g++.exe"

likely path: C:\mingw64\bin\ or C:\Program Files\LLVM\bin\.

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Set your CMake default generator

On Linux:

Add to ~/.bashrc, ~/.zshrc or the config script of your terminal:

export CMAKE_GENERATOR="Ninja Multi-Config"

On Windows:

Add the environment variable

setx CMAKE_GENERATOR "Ninja Multi-Config"

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Set your default CPM Package Manager library cache

On Linux:

Add to ~/.bashrc, ~/.zshrc or the config script of your terminal:

export CPM_SOURCE_CACHE=$HOME/.cache/CPM

On Windows:

Add the environment variable

setx CPM_SOURCE_CACHE "%USERPROFILE%\.cache\CPM"