kohdevaltio
Kohdevaltio (target state) is a concept used in control theory and robotics to describe the desired or reference state that a dynamical system should reach or track. It represents the values of the system’s state vector, such as position, velocity, orientation, or other relevant variables, that the controller aims to achieve. In mathematical models, the current state is often denoted x, while the kohdevaltio is denoted x_d or x_ref and can be constant or time-varying.
Use and role in control systems: The kohdevaltio serves as the reference against which the controller minimizes
Time variation and constraints: A kohdevaltio can be fixed (regulation to a steady state) or dynamic (tracking
Examples: A drone reaching a specified waypoint and orientation, a robotic arm attaining a particular end-effector
See also: setpoint, reference trajectory, state-space representation, model predictive control, feedback control.