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Merged
merged 4 commits into from
Mar 30, 2022
Merged

Optimal control enhancements #712

merged 4 commits into from
Mar 30, 2022

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murrayrm
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This PR includes enhancements to the optimal control module:

  • Added config.defaults['optimal'] to allow default optimal control options (minimize_method, etc) to be set using set_defaults
  • Improved keyword handling in solve_ocp and other optimal control functions, including checking for unrecognized keywords
  • Allow t_eval keyword in input_output_response to allow a different set of time points to be used for the input vector and the computed output
  • The final cost is now saved in optimal control result (Optimal control results should include the final cost achieved #694)
  • Fixed doc/optimal.rst example (generates working solution; Steering optimal control example from documentation failing #636)
  • Updated optimal docstrings and user documentation, including adding optimization tips to doc/optimal.rst
  • Fixed user documentation warnings/errors (not related to optimal)
  • Additional unit tests: nonuniform sampling in simulations, not implemented test for continuous MPC

All previous functionality still works.

murrayrm added 4 commits March 22, 2022 21:25
@murrayrm
add not implemented test/fix for continuous MPC
79d1193
@murrayrm
optimal improvements: defaults, docs, t_eval, cost
19c1d58 
* Added config.defaults['optimal']
* Improved keyword handling (including unknown check)
* Allow t_eval in input_output_response to chnage timepts
* Save cost in optimal control result
* Fixed doc/optimal.rst example (generates working solution)
* Updated optimal docstrings and user documentation
* Added optimization tips to doc/optimal.rst
* Fixed user documentation warnings/errors (not related to optimal)
@murrayrm
unit test for nonuniform sampling in simulations
b2e86b8
@murrayrm
rebase cleanup
f3d46bc
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Coverage Status

Coverage decreased (-0.05%) to 93.546% when pulling f3d46bc on murrayrm:optimal_18Mar2022 into 2f3ca18 on python-control:master.

@murrayrm murrayrm mentioned this pull request Mar 23, 2022
Merged
This was linked to issues Mar 23, 2022
Steering optimal control example from documentation failing #636
Closed
Optimal control results should include the final cost achieved #694
Closed
@murrayrm murrayrm merged commit cfe21de into python-control:master Mar 30, 2022
@murrayrm murrayrm mentioned this pull request Apr 9, 2022
Closed
@murrayrm murrayrm added this to the 0.9.2 milestone Apr 17, 2022
@murrayrm murrayrm deleted the optimal_18Mar2022 branch April 26, 2022 05:21
@murrayrm murrayrm mentioned this pull request Dec 24, 2022
Closed
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