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Commit75ffa49

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Test and fixes for hinfsyn. Needs fixed slycot.
Fixed call to sb10ad. Needs fixed slycot, e.g., [1][1]roryyorke/Slycot@42cdeb8
1 parent7b07af3 commit75ffa49

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2 files changed

+41
-8
lines changed

2 files changed

+41
-8
lines changed

‎control/robust.py

Lines changed: 10 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -115,7 +115,12 @@ def hinfsyn(P,nmeas,ncon):
115115
K: controller to stabilize P (State-space sys)
116116
CL: closed loop system (State-space sys)
117117
gam: infinity norm of closed loop system
118-
info: info returned from siycot routine
118+
rcond: 4-vector, reciprocal condition estimates of:
119+
1: control transformation matrix
120+
2: measurement transformation matrix
121+
3: X-Ricatti equation
122+
4: Y-Ricatti equation
123+
TODO: document significance of rcond
119124
120125
Raises
121126
------
@@ -128,7 +133,7 @@ def hinfsyn(P,nmeas,ncon):
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129134
Examples
130135
--------
131-
>>> K, CL, gam,info = hinfsyn(P,nmeas,ncon)
136+
>>> K, CL, gam,rcond = hinfsyn(P,nmeas,ncon)
132137
133138
"""
134139

@@ -147,12 +152,11 @@ def hinfsyn(P,nmeas,ncon):
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exceptImportError:
148153
raiseControlSlycot("can't find slycot subroutine sb10ad")
149154

150-
job=3
151155
n=np.size(P.A,0)
152156
m=np.size(P.B,1)
153-
np=np.size(P.C,0)
157+
np_=np.size(P.C,0)
154158
gamma=1.e100
155-
out=sb10ad(job,n,m,np,ncon,nmeas,gamma,P.A,P.B,P.C,P.D)
159+
out=sb10ad(n,m,np_,ncon,nmeas,gamma,P.A,P.B,P.C,P.D)
156160
gam=out[0]
157161
Ak=out[1]
158162
Bk=out[2]
@@ -163,10 +167,8 @@ def hinfsyn(P,nmeas,ncon):
163167
Cc=out[7]
164168
Dc=out[8]
165169
rcond=out[9]
166-
info=out[10]
167170

168171
K=StateSpace(Ak,Bk,Ck,Dk)
169172
CL=StateSpace(Ac,Bc,Cc,Dc)
170173

171-
returnK,CL,gam,info
172-
174+
returnK,CL,gam,rcond

‎control/tests/robust_test.py

Lines changed: 31 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,31 @@
1+
importunittest
2+
importnumpyasnp
3+
importcontrol
4+
importcontrol.robust
5+
fromcontrol.exceptionimportslycot_check
6+
7+
8+
classTestHinf(unittest.TestCase):
9+
@unittest.skipIf(notslycot_check(),"slycot not installed")
10+
deftestHinfsyn(self):
11+
"Test hinfsyn"
12+
p=control.ss(-1, [1,1], [[1], [1]], [[0,1], [1,0]])
13+
k,cl,gam,rcond=control.robust.hinfsyn(p,1,1)
14+
# from Octave, which also uses SB10AD:
15+
# a= -1; b1= 1; b2= 1; c1= 1; c2= 1; d11= 0; d12= 1; d21= 1; d22= 0;
16+
# g = ss(a,[b1,b2],[c1;c2],[d11,d12;d21,d22]);
17+
# [k,cl] = hinfsyn(g,1,1);
18+
np.testing.assert_array_almost_equal(k.A, [[-3]])
19+
np.testing.assert_array_almost_equal(k.B, [[1]])
20+
np.testing.assert_array_almost_equal(k.C, [[-1]])
21+
np.testing.assert_array_almost_equal(k.D, [[0]])
22+
np.testing.assert_array_almost_equal(cl.A, [[-1,-1], [1,-3]])
23+
np.testing.assert_array_almost_equal(cl.B, [[1], [1]])
24+
np.testing.assert_array_almost_equal(cl.C, [[1,-1]])
25+
np.testing.assert_array_almost_equal(cl.D, [[0]])
26+
27+
# TODO: add more interesting examples
28+
29+
30+
if__name__=="__main__":
31+
unittest.main()

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