CAD.2 - Construct the Planning and Feedback Interface
CAD.2 - Construct the Planning and Feedback Interface Type: Method pattern Status: Stable…
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CAD.2:4 - Solution
In CAD.2 - Construct the Planning and Feedback Interface
… not establish a bound for arbitrary switching among periods. Give CAD.3 the combined evolution, initial-error condition, admissible command class, mismatch class and exact moments at which each required constraint must hold. Retain the meaning and time…
CAD.2:5 - Archetypal Grounding
In CAD.2 - Construct the Planning and Feedback Interface
For the constructed plant x_{k+1}=x_k+u_k, choose With a held reference r, e_{k+1}=ae_k. Let the reference change by \Delta r_j at the start of each N-step block. The error immediately after that change obeys For |\Delta r_j|\leq\delta, the interval |e|\leq E is invariant at…
CAD.2:9 - Consequences
In CAD.2 - Construct the Planning and Feedback Interface
CAD.2:9 - Consequences The interface becomes a design object whose consequences can be calculated and tested. A small change to interpolation or initialization may replace an expensive change to controller bandwidth. The cost is modeling events and time…
CAD.2:3 - Forces
In CAD.2 - Construct the Planning and Feedback Interface
CAD.2:3 - Forces Force Consequential tension Simpler planning state and hidden behavior Projection removes quantities that can still affect control. Sparse exchange and timely correction Holding information saves work while increasing mismatch.…
CAD.2:6 - Bias-Annotation
In CAD.2 - Construct the Planning and Feedback Interface
CAD.2:6 - Bias-Annotation A common output makes unlike models appear interchangeable. Check the mapping and missing dynamics. The linear branch makes exact substitution easy; nonlinear models need the same semantic work but may require set propagation or…
CAD.2:2 - Problem
In CAD.2 - Construct the Planning and Feedback Interface
CAD.2:2 - Problem Models can agree at one exchange instant while diverging between exchanges. A planning state can be initialized from the plant without representing every relevant plant state. A controller can track a smooth signal yet fail when the…
CAD.2:10 - Architectural Rationale
In CAD.2 - Construct the Planning and Feedback Interface
CAD.2:10 - Architectural Rationale The reconstructed state is a reference for comparing behaviors, not a new physical level. Substitution exposes both the desired correspondence and the residual terms. Making update events part of the same evolution allows…
CAD.2:7 - Conformance Checklist
In CAD.2 - Construct the Planning and Feedback Interface
CAD.2:7 - Conformance Checklist The command’s meaning, applicability time and between-update behavior are explicit. Projection, reconstruction and controlled-output comparison are distinguished. Combined error dynamics include mismatch and every update or…
CAD.2:12 - Relations
In CAD.2 - Construct the Planning and Feedback Interface
CAD.1 supplies the decomposition and lost interactions. MMP.9 supplies a qualified reduction; MMP.18 supplies exchange and scale compatibility. CAD.3 consumes the derived error and timing modes. CAD.4 returns implementation changes that require this…
CAD.2:1 - Problem frame
In CAD.2 - Construct the Planning and Feedback Interface
CAD.2:1 - Problem frame Use this when a planner and a lower controller have been chosen, but their combined behavior is not determined by their separate models. A reference jump, stale state estimate, model reset or held input may be the event that makes the…
CAD.2:5.1 - A held reference
In CAD.2 - Construct the Planning and Feedback Interface
CAD.2:5.1 - A held reference For the constructed plant x_{k+1}=x_k+u_k, choose u_k=(1-a)(r_k-x_k),\qquad a=\tfrac12. With a held reference r, e_{k+1}=ae_k. Let the reference change by \Delta r_j at the start of each N-step block. The error immediately after…
CAD.2:8 - Common Anti-Patterns and How to Avoid Them
In CAD.2 - Construct the Planning and Feedback Interface
CAD.2:8 - Common Anti-Patterns and How to Avoid Them Matching array dimensions does not match quantities; recover their meanings and maps. Resetting the upper model does not reset the plant; derive the new error. Using a continuous reference in analysis and a…
CAD.2:5.2 - A continuous reference segment
In CAD.2 - Construct the Planning and Feedback Interface
CAD.2:5.2 - A continuous reference segment Now let the fast computation generate r from a timed segment and let d_k=r_{k+1}-r_k, with |d_k|\leq v_{\max}. The same plant and gain give e_{k+1}=ae_k-d_k,\qquad E=\frac{v_{\max}}{1-a}. The planner can still…
CAD.2:4.1 - Define the exchanged behavior
In CAD.2 - Construct the Planning and Feedback Interface
CAD.2:4.1 - Define the exchanged behavior Use MMP.18 to establish meanings, units, coordinate frames, observation times, validity intervals and the operation performed between messages. A target, an input, an output trajectory and a constraint are different…