control-sys is a Rust library to represent, analyze, simulate, and control LTI systems using state-space models.

• Checked model constructors with typed errors (ModelError)
• Continuous-to-discrete conversion with explicit methods:
  • ZOH
• Time-domain simulation with full output equation y = Cx + Du
• Controllability and observability analysis
• Stability checks and rank diagnostics
• Controller helpers:
  • SISO pole placement
  • Discrete LQR
  • Continuous LQR approximation
  • Closed-loop assembly (A-BK)

use control_sys::{analysis, model, simulator};
use nalgebra as na;

let a = na::dmatrix![0.0, 1.0; -2.0, -3.0];
let b = na::dmatrix![0.0; 1.0];
let c = na::dmatrix![1.0, 0.0];
let d = na::dmatrix![0.0];

let cont = model::ContinuousStateSpaceModel::try_from_matrices(&a, &b, &c, &d).unwrap();
let disc = model::DiscreteStateSpaceModel::from_continuous_zoh(&cont, 0.05).unwrap();

let (y, u, _x) = simulator::step_for_discrete_ss(&disc, 5.0).unwrap();
assert_eq!(y.nrows(), 1);
assert_eq!(u.nrows(), 1);

let (is_ctrb, _ctrb_mat) = analysis::is_ss_controllable(&disc);
assert!(is_ctrb);

DiscreteStateSpaceModel has explicit conversion methods:

• from_continuous_zoh: exact ZOH (recommended default)

Use ZOH by default for sampled-data systems with held inputs.

cargo test
cargo clippy --all-targets --all-features -- -D warnings