[Robust control] Add makeweight function #289
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- makeweight matches Matlab API, otherwise it would have been called make_weight. - As in Matlab, it returns the inverse of a performance weight as described in Skojestad book. I did not mention it in the code to limit confusion. - Robust mimo example updated. - Unit tests added. - Add __all__ list in robust.py - Update doc TODO: implement discrete behavior
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| # elif isDisc(): | ||
| # dico = 'D' | ||
| # else: | ||
| # TODO: Check for continous or discrete, only continuous supported right now |
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We should raise an exception if a discrete time system is passed as an argument. Use isdtime(P, strict=True) to check.
| High frequency gain of 1/W; should be > 1 | ||
| order : int strictly positive scalar - optional | ||
| Order of the output transfer function | ||
| Ts : double strictly positive scalar - optional |
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Shouldn't the sampling time come from the system (sys.dt)? What happens if they are not compatible?
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| Parameters | ||
| ---------- | ||
| dcgain : double positive scalar |
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Incorrect indentation; should line up with Parameters. See numpydocs.
| Order of the output transfer function | ||
| Ts : double strictly positive scalar - optional | ||
| Sampling time in case W is discrete | ||
| W - SISO LTI object |
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Should be in a section titled Returns. See numpydoc.
| return k,cl,info | ||
| def makeweight(dcgain, wc, hfgain, order=1, Ts=None): | ||
| """ Compute a weight transfer function, noted W | ||
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Need more documentation about the functionality that is implemented. Add a few sentences (and maybe an equation?) describing what the function does.
Also, this function needs to be added to doc/control.rst and doc/matlab.rst.
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PR has been idle for > 6 months => stale. @don4get I will close this PR in a few days unless you will have time to work on it soon. No worries if not; just re-open when you have responded to the comments above. |
To be merged after #270
I wanted to add this functionality to the library:
https://ch.mathworks.com/help/robust/ref/makeweight.html
Above the Matlab behavior, I added the possibility to compute higher orders weight functions.
The discrete behavior is not implemented yet as I don't know how to deal with it.
I tried the naive approach, creating the laplace variable as follows: s = tf([1, 0], [1], Ts).
However, the DC gain of the resulted weight function is not correct, as one could have expected.
If someone knows how to solve this problem, I would be glad to help him.