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Merged
merged 2 commits into from
Dec 26, 2016
Merged

hinfsyn and h2syn fixes #100

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ca8f331
Test and fixes for hinfsyn. Needs fixed slycot.
roryyorke Jun 28, 2015
d923c6b
Fix h2syn, added simple test
roryyorke Jul 12, 2015
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22 changes: 12 additions & 10 deletions control/robust.py
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Original file line number Diff line number Diff line change
Expand Up @@ -90,8 +90,8 @@ def h2syn(P,nmeas,ncon):

n = np.size(P.A,0)
m = np.size(P.B,1)
np = np.size(P.C,0)
out = sb10hd(n,m,np,ncon,nmeas,P.A,P.B,P.C,P.D)
np_ = np.size(P.C,0)
out = sb10hd(n,m,np_,ncon,nmeas,P.A,P.B,P.C,P.D)
Ak = out[0]
Bk = out[1]
Ck = out[2]
Expand All @@ -115,7 +115,12 @@ def hinfsyn(P,nmeas,ncon):
K: controller to stabilize P (State-space sys)
CL: closed loop system (State-space sys)
gam: infinity norm of closed loop system
info: info returned from siycot routine
rcond: 4-vector, reciprocal condition estimates of:
1: control transformation matrix
2: measurement transformation matrix
3: X-Ricatti equation
4: Y-Ricatti equation
TODO: document significance of rcond

Raises
------
Expand All @@ -128,7 +133,7 @@ def hinfsyn(P,nmeas,ncon):

Examples
--------
>>> K, CL, gam, info = hinfsyn(P,nmeas,ncon)
>>> K, CL, gam, rcond = hinfsyn(P,nmeas,ncon)

"""

Expand All @@ -147,12 +152,11 @@ def hinfsyn(P,nmeas,ncon):
except ImportError:
raise ControlSlycot("can't find slycot subroutine sb10ad")

job = 3
n = np.size(P.A,0)
m = np.size(P.B,1)
np = np.size(P.C,0)
np_ = np.size(P.C,0)
gamma = 1.e100
out = sb10ad(job,n,m,np,ncon,nmeas,gamma,P.A,P.B,P.C,P.D)
out = sb10ad(n,m,np_,ncon,nmeas,gamma,P.A,P.B,P.C,P.D)
gam = out[0]
Ak = out[1]
Bk = out[2]
Expand All @@ -163,10 +167,8 @@ def hinfsyn(P,nmeas,ncon):
Cc = out[7]
Dc = out[8]
rcond = out[9]
info = out[10]

K = StateSpace(Ak, Bk, Ck, Dk)
CL = StateSpace(Ac, Bc, Cc, Dc)

return K, CL, gam, info

return K, CL, gam, rcond
46 changes: 46 additions & 0 deletions control/tests/robust_test.py
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Original file line number Diff line number Diff line change
@@ -0,0 +1,46 @@
import unittest
import numpy as np
import control
import control.robust
from control.exception import slycot_check


class TestHinf(unittest.TestCase):
@unittest.skipIf(not slycot_check(), "slycot not installed")
def testHinfsyn(self):
"Test hinfsyn"
p = control.ss(-1, [1, 1], [[1], [1]], [[0, 1], [1, 0]])
k, cl, gam, rcond = control.robust.hinfsyn(p, 1, 1)
# from Octave, which also uses SB10AD:
# a= -1; b1= 1; b2= 1; c1= 1; c2= 1; d11= 0; d12= 1; d21= 1; d22= 0;
# g = ss(a,[b1,b2],[c1;c2],[d11,d12;d21,d22]);
# [k,cl] = hinfsyn(g,1,1);
np.testing.assert_array_almost_equal(k.A, [[-3]])
np.testing.assert_array_almost_equal(k.B, [[1]])
np.testing.assert_array_almost_equal(k.C, [[-1]])
np.testing.assert_array_almost_equal(k.D, [[0]])
np.testing.assert_array_almost_equal(cl.A, [[-1, -1], [1, -3]])
np.testing.assert_array_almost_equal(cl.B, [[1], [1]])
np.testing.assert_array_almost_equal(cl.C, [[1, -1]])
np.testing.assert_array_almost_equal(cl.D, [[0]])

# TODO: add more interesting examples

class TestH2(unittest.TestCase):
@unittest.skipIf(not slycot_check(), "slycot not installed")
def testH2syn(self):
"Test h2syn"
p = control.ss(-1, [1, 1], [[1], [1]], [[0, 1], [1, 0]])
k = control.robust.h2syn(p, 1, 1)
# from Octave, which also uses SB10HD for H-2 synthesis:
# a= -1; b1= 1; b2= 1; c1= 1; c2= 1; d11= 0; d12= 1; d21= 1; d22= 0;
# g = ss(a,[b1,b2],[c1;c2],[d11,d12;d21,d22]);
# k = h2syn(g,1,1);
# the solution is the same as for the hinfsyn test
np.testing.assert_array_almost_equal(k.A, [[-3]])
np.testing.assert_array_almost_equal(k.B, [[1]])
np.testing.assert_array_almost_equal(k.C, [[-1]])
np.testing.assert_array_almost_equal(k.D, [[0]])

if __name__ == "__main__":
unittest.main()