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Commit91c0260

Browse files
murrayrmbnavigator
authored andcommitted
add support for 1D gain scheduling
1 parenta3cffd7 commit91c0260

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2 files changed

+39
-2
lines changed

2 files changed

+39
-2
lines changed

‎control/statefbk.py

Lines changed: 10 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -826,6 +826,10 @@ def create_statefbk_iosystem(
826826
gainsched_indices=range(sys.nstates)ifgainsched_indicesisNone \
827827
elselist(gainsched_indices)
828828

829+
# If points is a 1D list, convert to 2D
830+
ifpoints.ndim==1:
831+
points=points.reshape(-1,1)
832+
829833
# Make sure the scheduling variable indices are the right length
830834
iflen(gainsched_indices)!=points.shape[1]:
831835
raiseControlArgument(
@@ -838,7 +842,12 @@ def create_statefbk_iosystem(
838842
gainsched_indices[i]=inputs.index(gainsched_indices[i])
839843

840844
# Create interpolating function
841-
ifgainsched_method=='nearest':
845+
ifpoints.shape[1]<2:
846+
_interp=sp.interpolate.interp1d(
847+
points[:,0],gains,axis=0,kind=gainsched_method)
848+
_nearest=sp.interpolate.interp1d(
849+
points[:,0],gains,axis=0,kind='nearest')
850+
elifgainsched_method=='nearest':
842851
_interp=sp.interpolate.NearestNDInterpolator(points,gains)
843852
def_nearest(mu):
844853
raiseSystemError(f"could not find nearest gain at mu ={mu}")

‎control/tests/statefbk_test.py

Lines changed: 29 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -924,6 +924,34 @@ def test_gainsched_unicycle(unicycle, method):
924924
resp.states[:,-1],Xd[:,-1],atol=1e-2,rtol=1e-2)
925925

926926

927+
@pytest.mark.parametrize("method", ['nearest','linear','cubic'])
928+
deftest_gainsched_1d(method):
929+
# Define a linear system to test
930+
sys=ct.ss([[-1,0.1], [0,-2]], [[0], [1]],np.eye(2),0)
931+
932+
# Define gains for the first state only
933+
points= [-1,0,1]
934+
935+
# Define gain to be constant
936+
K,_,_=ct.lqr(sys,np.eye(sys.nstates),np.eye(sys.ninputs))
937+
gains= [Kforpinpoints]
938+
939+
# Define the paramters for the simulations
940+
timepts=np.linspace(0,10,100)
941+
X0=np.ones(sys.nstates)*1.1# Start outside defined range
942+
943+
# Create a controller and simulate the initial response
944+
gs_ctrl,gs_clsys=ct.create_statefbk_iosystem(
945+
sys, (gains,points),gainsched_indices=[0])
946+
gs_resp=ct.input_output_response(gs_clsys,timepts,0,X0)
947+
948+
# Verify that we get the same result as a constant gain
949+
ck_clsys=ct.ss(sys.A-sys.B @K,sys.B,sys.C,0)
950+
ck_resp=ct.input_output_response(ck_clsys,timepts,0,X0)
951+
952+
np.testing.assert_allclose(gs_resp.states,ck_resp.states)
953+
954+
927955
deftest_gainsched_default_indices():
928956
# Define a linear system to test
929957
sys=ct.ss([[-1,0.1], [0,-2]], [[0], [1]],np.eye(2),0)
@@ -937,7 +965,7 @@ def test_gainsched_default_indices():
937965

938966
# Define the paramters for the simulations
939967
timepts=np.linspace(0,10,100)
940-
X0=np.ones(sys.nstates)*0.9
968+
X0=np.ones(sys.nstates)*1.1# Start outside defined range
941969

942970
# Create a controller and simulate the initial response
943971
gs_ctrl,gs_clsys=ct.create_statefbk_iosystem(sys, (gains,points))

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