CDS 110 and CDS 112 Jupyter notebooks #1037

murrayrm · 2024-08-09T03:47:40Z

This PR adds ~25 new/updated Python notebooks to the examples/ subdirectory that are based on lectures give in CDS 110 (Introduction to Feedback Control) and CDS 112 (Optimization-Based Control) at Caltech in Winter 2024 and Spring 2023, respectively.

These files are intended to illustrate various control concepts that can be implemented using the python-control toolbox:

CDS 110, L1: Dynamics and Control of a Servomechanism System using Python-Control
CDS 110, L2: Nonlinear Dynamics (and Control) of an Inverted Pendulum System
CDS 110, L3: Python Tools for Analyzing Linear Systems
CDS 110, L4a: Dynamics and State Feedback Control of a Predator-Prey Model
CDS 110, L4b: LQR Tracking
CDS 110, L5: State Estimation for a Kinematic Car Model
CDS 110, L6a: Trajectory Generation for a Kinematic Car Model
CDS 110, L6b: Trajectory Tracking for a Kinematic Car
CDS 110, L6c: Receding Horizon Control of a Double Integrator with Bounded Input
CDS 110, L7: Frequency Domain Analysis using Bode/Nyquist plots
CDS 110, L8a: Fundamental Limits for Control of a Magnetic Levitation System
CDS 110, L8b: Full Controller Stack for a Planar Vertical Take-Off and Landing (PVTOL) System
CDS 110, L9: PID Control of a Servomechanism
CDS 112, L1: Introduction to the Python Control Systems Library (python-control)
CDS 112, L2a: Differential Flatness
CDS 112, L2b; Gain Scheduling
CDS 112, L3a: Linear quadratic optimal control example
CDS 112, L3b: Optimal Control
CDS 112, L4a: LQR Tracking Example
CDS 112, L4b: PVTOL Linear Quadratic Regulator Example
CDS 112, L5: RHC Example: Double integrator with bounded input
CDS 112, L6: Stochastic Response
CDS 112, L7: PVTOL LQR + EQF example
CDS 112, L8: Kinematic car sensor fusion example
CDS 112, L9: Moving Horizon Estimation

The notebooks are also be copied to Google Colab and the CDS 110 notebooks have a link at the top to the Colab version sitting in the fbsbook.org Google account (publicly accessible).

coveralls · 2024-08-09T04:02:05Z

coverage: 94.694%. remained the same
when pulling 7915c91 on murrayrm:cds_examples-06Jul2024
into 373ff11 on python-control:main.

slivingston · 2024-08-09T04:58:22Z

examples/Makefile

make clean is generally useful, but make post does not seem to be, unless they configure gdrive and rclone similarly. I recommend adding a comment that other users may need to change GDRIVE for their own upload target.

slivingston · 2024-08-09T05:00:22Z

examples/kincar.py

+    states=('x', 'y', 'theta'))
+
+#
+# Utility function to plot lane change manuever


Suggested change

# Utility function to plot lane change manuever

# Utility function to plot lane change maneuver

slivingston · 2024-08-09T05:01:07Z

examples/kincar.py

+    plt.xlabel("Time $t$ [sec]")
+    plt.ylabel("$\\delta$ [rad]")
+
+    plt.suptitle("Lane change manuever")


Suggested change

plt.suptitle("Lane change manuever")

plt.suptitle("Lane change maneuver")

slivingston · 2024-08-09T05:28:46Z

examples/cds110-L1_servomech-python.ipynb

"Moment of inertial" -> "Moment of inertia"

"loop dynamicsof" -> "loop dynamics of"

"for the system that that" -> "for the system that"

"the the process" -> "the process"

"connect everthing" -> "connect everything"

"for a referend trajectory" -> "for a reference trajectory"

slivingston · 2024-08-11T02:24:43Z

I will finish reviewing this tonight.

slivingston · 2024-08-10T20:40:25Z

doc/examples.rst

@@ -7,7 +7,7 @@ Examples

 The source code for the examples below are available in the `examples/`
 subdirectory of the source code distribution. They can also be accessed online
-via the [python-control GitHub repository](https://github.com/python-control/python-control/tree/master/examples).
+via the `python-control GitHub repository <https://github.com/python-control/python-control/tree/master/examples>`_.


Suggested change

via the `python-control GitHub repository <https://github.com/python-control/python-control/tree/master/examples>`_.

via the `python-control GitHub repository <https://github.com/python-control/python-control/tree/main/examples>`_.

slivingston · 2024-08-10T20:41:04Z

doc/examples.rst

+Google Colab Notebooks
+======================
+
+A collection of Jupyter notebooks are available on [Google Colab](),


Should [Google Colab]() be a link to somewhere? Also, []() is Markdown syntax, but this looks like a reStructuredText file.

slivingston · 2024-08-10T20:45:19Z

control/freqplot.py

@@ -179,6 +183,8 @@ def bode_plot(
        Number of samples to use for the frequeny range.  Defaults to
        config.defaults['freqplot.number_of_samples'].  Ignored if data is
        not a list of systems.
+    phase_label : str, optional
+        Label to use for magnitude axis.  Defaults to "Phase [rad]".


Suggested change

Label to use for magnitude axis. Defaults to "Phase [rad]".

Label to use for phase axis. Defaults to "Phase [rad]".

slivingston · 2024-08-11T00:45:23Z

examples/cds110-L3_lti-systems.ipynb

The link to python-control is broken at the top of the document, due to a Markdown syntax error. It is ([python-control](https://python-control.org]) but should be ([python-control](https://python-control.org))

"to define and input/output" -> "to define an input/output"

"a response object, we can be used" -> "a response object, which can be used"

slivingston · 2024-08-11T01:55:08Z

examples/cds110-L4a_predprey-statefbk.ipynb

u = np.atleast_1d(u) can be deleted (it is the line with comment "Fix python-control bug"). This bug was at least fixed in commit f6f88f8, when the call to _rhs() was changed to ensure u is an array (np.asarray(u).reshape(-1)).

"the Lynx population" -> "the lynx population"

slivingston · 2024-08-11T16:27:44Z

examples/cds110-L7_bode-nyquist.ipynb

"sytem" -> "system"

"frequeny" -> "frequency"

slivingston · 2024-08-11T16:30:19Z

examples/cds110-L8a_maglev-limits.ipynb

The electromagnet diagram has a misprint: "receivier" -> "receiver". I do not know where that file can be changed, but the URL in the notebook is https://www.cds.caltech.edu/~murray/courses/cds110/sp2024/maglev-diagram.png

slivingston · 2024-08-11T16:35:59Z

examples/cds110-L8b_pvtol-complete-limits.ipynb

In code comments in section Estimator, "equiblirum" -> "equilibrium"

"if you plot" -> "if your plot"

slivingston · 2024-08-11T16:40:49Z

examples/cds112-L1_python-control.ipynb

Link to control docs in the section "More information..." is broken; try https://python-control.readthedocs.io/en/latest/ (which updates automatically with new releases) or http://python-control.org/ (currently redirects to the docs).

slivingston · 2024-08-11T16:46:07Z

examples/cds112-L2a_flatness.ipynb

Markdown syntax mistake in first paragraph:

`BasisFamil`y

Also, in the section "Look inside the code", URL to flatsys.py should use main branch: https://github.com/python-control/python-control/blob/main/control/flatsys/flatsys.py
(redirect is automatic but somewhat distracting)

murrayrm added 13 commits August 8, 2024 19:09

initial commit of CDS 110, Winter 2024 lectures

546a4f1

updated lectures, with fixes, full model code, + colab links

1bcdb3a

added CDS 112 files

ac7d910

update CDS 110, L1

257625e

update CDS 110, L2

d4c75a3

update CDS 110, L3

557f2c2

update CDS 110, L4a and L4b

cd675aa

update CDS 110, L5

ea40713

update CDS 110, L6a, L6b, and L6c

7756016

update CDS 110, L7

563b864

update CDS 110, L8a and L8b

64e58a3

update CDS 110, L9

354f3cc

change cds112 files names and fix up errors

e4f2710

murrayrm changed the title ~~initial commit of CDS 110, Winter 2024 lectures~~ CDS 110 and CDS 112 Jupyter notebooks Aug 9, 2024

murrayrm mentioned this pull request Aug 9, 2024

Version 0.10.1 release plans #1020

Closed

11 tasks

slivingston reviewed Aug 9, 2024

View reviewed changes

murrayrm added 4 commits August 10, 2024 07:21

update Google Colab links, Makefile directions

cf10d95

fix typo in kincar.py pointed out by @slivingston

90b1759

fix small typos

7994bd0

fix links in doc/examples.rst

fd3a5e7

slivingston reviewed Aug 11, 2024

View reviewed changes

address @slivingston review comments

7915c91

murrayrm merged commit 3d79ce3 into python-control:main Aug 11, 2024
23 checks passed

murrayrm deleted the cds_examples-06Jul2024 branch August 11, 2024 19:36

murrayrm added this to the 0.10.1 milestone Aug 17, 2024

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CDS 110 and CDS 112 Jupyter notebooks #1037

CDS 110 and CDS 112 Jupyter notebooks #1037

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slivingston commented Aug 11, 2024

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slivingston Aug 11, 2024

	# Utility function to plot lane change manuever
	# Utility function to plot lane change maneuver

	plt.suptitle("Lane change manuever")
	plt.suptitle("Lane change maneuver")

	via the `python-control GitHub repository <https://github.com/python-control/python-control/tree/master/examples>`_.
	via the `python-control GitHub repository <https://github.com/python-control/python-control/tree/main/examples>`_.

	Label to use for magnitude axis. Defaults to "Phase [rad]".
	Label to use for phase axis. Defaults to "Phase [rad]".

CDS 110 and CDS 112 Jupyter notebooks #1037

CDS 110 and CDS 112 Jupyter notebooks #1037

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murrayrm commented Aug 9, 2024 •

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