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Pep8 clean robust control #270

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Merged
merged 1 commit into from
Apr 16, 2019
Merged

Pep8 clean robust control #270

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130 changes: 67 additions & 63 deletions control/robust.py
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Original file line number Diff line number Diff line change
Expand Up @@ -45,7 +45,8 @@
from .statesp import StateSpace
from .statefbk import *

def h2syn(P,nmeas,ncon):

def h2syn(P, nmeas, ncon):
"""H_2 control synthesis for plant P.

Parameters
Expand All @@ -72,25 +73,25 @@ def h2syn(P,nmeas,ncon):
>>> K = h2syn(P,nmeas,ncon)

"""
#Check for ss system object, need a utility for this?

#TODO: Check for continous or discrete, only continuous supported right now
# if isCont():
# dico = 'C'
# elif isDisc():
# dico = 'D'
# else:
# Check for ss system object, need a utility for this?

# TODO: Check for continous or discrete, only continuous supported right now
# if isCont():
# dico = 'C'
# elif isDisc():
# dico = 'D'
# else:
dico = 'C'

try:
from slycot import sb10hd
except ImportError:
raise ControlSlycot("can't find slycot subroutine sb10hd")

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)
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)
Ak = out[0]
Bk = out[1]
Ck = out[2]
Expand All @@ -100,7 +101,8 @@ def h2syn(P,nmeas,ncon):

return K

def hinfsyn(P,nmeas,ncon):

def hinfsyn(P, nmeas, ncon):
"""H_{inf} control synthesis for plant P.

Parameters
Expand Down Expand Up @@ -136,26 +138,26 @@ def hinfsyn(P,nmeas,ncon):

"""

#Check for ss system object, need a utility for this?
# Check for ss system object, need a utility for this?

#TODO: Check for continous or discrete, only continuous supported right now
# if isCont():
# dico = 'C'
# elif isDisc():
# dico = 'D'
# else:
# TODO: Check for continous or discrete, only continuous supported right now
# if isCont():
# dico = 'C'
# elif isDisc():
# dico = 'D'
# else:
dico = 'C'

try:
from slycot import sb10ad
except ImportError:
raise ControlSlycot("can't find slycot subroutine sb10ad")

n = np.size(P.A,0)
m = np.size(P.B,1)
np_ = np.size(P.C,0)
n = np.size(P.A, 0)
m = np.size(P.B, 1)
np_ = np.size(P.C, 0)
gamma = 1.e100
out = sb10ad(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 Down Expand Up @@ -202,21 +204,21 @@ def _size_as_needed(w, wname, n):
"""
from . import append, ss
if w is not None:
if not isinstance(w,StateSpace):
if not isinstance(w, StateSpace):
w = ss(w)
if 1==w.inputs and 1==w.outputs:
w = append(*(w,)*n)
if 1 == w.inputs and 1 == w.outputs:
w = append(*(w,) * n)
else:
if w.inputs != n:
msg=("{}: weighting function has {} inputs, expected {}".
format(wname,w.inputs,n))
msg = ("{}: weighting function has {} inputs, expected {}".
format(wname, w.inputs, n))
raise ValueError(msg)
else:
w = ss([],[],[],[])
w = ss([], [], [], [])
return w


def augw(g,w1=None,w2=None,w3=None):
def augw(g, w1=None, w2=None, w3=None):
"""Augment plant for mixed sensitivity problem.

Parameters
Expand Down Expand Up @@ -254,12 +256,12 @@ def augw(g,w1=None,w2=None,w3=None):
ny = g.outputs
nu = g.inputs

w1,w2,w3 = [_size_as_needed(w,wname,n)
for w,wname,n in zip((w1,w2,w3),
('w1','w2','w3'),
(ny,nu,ny))]
w1, w2, w3 = [_size_as_needed(w, wname, n)
for w, wname, n in zip((w1, w2, w3),
('w1', 'w2', 'w3'),
(ny, nu, ny))]

if not isinstance(g,StateSpace):
if not isinstance(g, StateSpace):
g = ss(g)

# w u
Expand All @@ -270,11 +272,11 @@ def augw(g,w1=None,w2=None,w3=None):
# v [ I | -g ]

# error summer: inputs are -y and r=w
Ie = ss([],[],[],np.eye(ny))
Ie = ss([], [], [], np.eye(ny))
# control: needed to "distribute" control input
Iu = ss([],[],[],np.eye(nu))
Iu = ss([], [], [], np.eye(nu))

sysall = append(w1,w2,w3,Ie,g,Iu)
sysall = append(w1, w2, w3, Ie, g, Iu)

niw1 = w1.inputs
niw2 = w2.inputs
Expand All @@ -284,43 +286,45 @@ def augw(g,w1=None,w2=None,w3=None):
now2 = w2.outputs
now3 = w3.outputs

q = np.zeros((niw1+niw2+niw3+ny+nu,2))
q[:,0] = np.arange(1,q.shape[0]+1)
q = np.zeros((niw1 + niw2 + niw3 + ny + nu, 2))
q[:, 0] = np.arange(1, q.shape[0] + 1)

# Ie -> w1
q[:niw1,1] = np.arange(1+now1+now2+now3,
1+now1+now2+now3+niw1)
q[:niw1, 1] = np.arange(1 + now1 + now2 + now3,
1 + now1 + now2 + now3 + niw1)

# Iu -> w2
q[niw1:niw1+niw2,1] = np.arange(1+now1+now2+now3+2*ny,
1+now1+now2+now3+2*ny+niw2)
q[niw1:niw1 + niw2, 1] = np.arange(1 + now1 + now2 + now3 + 2 * ny,
1 + now1 + now2 + now3 + 2 * ny + niw2)

# y -> w3
q[niw1+niw2:niw1+niw2+niw3,1] = np.arange(1+now1+now2+now3+ny,
1+now1+now2+now3+ny+niw3)
q[niw1 + niw2:niw1 + niw2 + niw3, 1] = np.arange(1 + now1 + now2 + now3 + ny,
1 + now1 + now2 + now3 + ny + niw3)

# -y -> Iy; note the leading -
q[niw1+niw2+niw3:niw1+niw2+niw3+ny,1] = -np.arange(1+now1+now2+now3+ny,
1+now1+now2+now3+2*ny)
q[niw1 + niw2 + niw3:niw1 + niw2 + niw3 + ny, 1] = -np.arange(1 + now1 + now2 + now3 + ny,
1 + now1 + now2 + now3 + 2 * ny)

# Iu -> G
q[niw1+niw2+niw3+ny:niw1+niw2+niw3+ny+nu,1] = np.arange(1+now1+now2+now3+2*ny,
1+now1+now2+now3+2*ny+nu)
q[niw1 + niw2 + niw3 + ny:niw1 + niw2 + niw3 + ny + nu, 1] = np.arange(
1 + now1 + now2 + now3 + 2 * ny,
1 + now1 + now2 + now3 + 2 * ny + nu)

# input indices: to Ie and Iu
ii = np.hstack((np.arange(1+now1+now2+now3,
1+now1+now2+now3+ny),
np.arange(1+now1+now2+now3+ny+nu,
1+now1+now2+now3+ny+nu+nu)))
ii = np.hstack((np.arange(1 + now1 + now2 + now3,
1 + now1 + now2 + now3 + ny),
np.arange(1 + now1 + now2 + now3 + ny + nu,
1 + now1 + now2 + now3 + ny + nu + nu)))

# output indices
oi = np.arange(1,1+now1+now2+now3+ny)
oi = np.arange(1, 1 + now1 + now2 + now3 + ny)

p = connect(sysall,q,ii,oi)
p = connect(sysall, q, ii, oi)

return p

def mixsyn(g,w1=None,w2=None,w3=None):

def mixsyn(g, w1=None, w2=None, w3=None):
"""Mixed-sensitivity H-infinity synthesis.

mixsyn(g,w1,w2,w3) -> k,cl,info
Expand Down Expand Up @@ -356,8 +360,8 @@ def mixsyn(g,w1=None,w2=None,w3=None):
"""
nmeas = g.outputs
ncon = g.inputs
p = augw(g,w1,w2,w3)
p = augw(g, w1, w2, w3)

k,cl,gamma,rcond=hinfsyn(p,nmeas,ncon)
info = gamma,rcond
return k,cl,info
k, cl, gamma, rcond = hinfsyn(p, nmeas, ncon)
info = gamma, rcond
return k, cl, info
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