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Commitbb52b70

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addressed@slivingston review comments
1 parent96b7b73 commitbb52b70

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3 files changed

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3 files changed

+32
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‎control/statefbk.py‎

Lines changed: 7 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -696,11 +696,11 @@ def create_statefbk_iosystem(
696696
-------
697697
ctrl : NonlinearIOSystem
698698
Input/output system representing the controller. For the 'trajgen'
699-
designpatter (default), this system takes as inputs the desired
699+
designpattern (default), this system takes as inputs the desired
700700
state `x_d`, the desired input `u_d`, and either the system state
701701
`x` or the estimated state `xhat`. It outputs the controller
702702
action `u` according to the formula `u = u_d - K(x - x_d)`. For
703-
the 'refgain' designpatter, the system takes as inputs the
703+
the 'refgain' designpattern, the system takes as inputs the
704704
reference input `r` and the system or estimated state. If the
705705
keyword `integral_action` is specified, then an additional set of
706706
integrators is included in the control system (with the gain matrix
@@ -779,6 +779,11 @@ def create_statefbk_iosystem(
779779
ifkwargs:
780780
raiseTypeError("unrecognized keywords: ",str(kwargs))
781781

782+
# Check for consistency of positional parameters
783+
iffeedfwd_gainisnotNoneandfeedfwd_pattern!='refgain':
784+
raiseControlArgument(
785+
"feedfwd_gain specified but feedfwd_pattern != 'refgain'")
786+
782787
# Figure out what inputs to the system to use
783788
control_indices=_process_indices(
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control_indices,'control',sys.input_labels,sys.ninputs)

‎control/tests/statefbk_test.py‎

Lines changed: 18 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1145,8 +1145,10 @@ def test_gainsched_errors(unicycle):
11451145

11461146

11471147
@pytest.mark.parametrize("ninputs, Kf", [
1148-
(1,1), (1,None),
1149-
(2,np.diag([1,1])), (2,None),
1148+
(1,1),
1149+
(1,None),
1150+
(2,np.diag([1,1])),
1151+
(2,None),
11501152
])
11511153
deftest_refgain_pattern(ninputs,Kf):
11521154
sys=ct.rss(2,2,ninputs,strictly_proper=True)
@@ -1178,3 +1180,17 @@ def test_refgain_pattern(ninputs, Kf):
11781180
np.testing.assert_almost_equal(clsys.B,manual.B)
11791181
np.testing.assert_almost_equal(clsys.C[:sys.nstates, :],manual.C)
11801182
np.testing.assert_almost_equal(clsys.D[:sys.nstates, :],manual.D)
1183+
1184+
1185+
deftest_create_statefbk_errors():
1186+
sys=ct.rss(2,2,1,strictly_proper=True)
1187+
sys.C=np.eye(2)
1188+
K=-np.ones((1,4))
1189+
Kf=1
1190+
1191+
K,_,_=ct.lqr(sys.A,sys.B,np.eye(sys.nstates),np.eye(sys.ninputs))
1192+
withpytest.raises(NotImplementedError,match="unknown pattern"):
1193+
ct.create_statefbk_iosystem(sys,K,feedfwd_pattern='mypattern')
1194+
1195+
withpytest.raises(ControlArgument,match="feedfwd_pattern != 'refgain'"):
1196+
ct.create_statefbk_iosystem(sys,K,Kf,feedfwd_pattern='trajgen')

‎doc/iosys.rst‎

Lines changed: 7 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -57,7 +57,7 @@ Example
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To illustrate the use of the input/output systems module, we create a
5959
model for a predator/prey system, following the notation and parameter
60-
values inFBS2e.
60+
values in`Feedback Systems<http://fbsbook.org>`_.
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6262
We begin by defining the dynamics of the system
6363

@@ -129,7 +129,8 @@ system and computing the linearization about that point.
129129
130130
We next compute a controller that stabilizes the equilibrium point using
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eigenvalue placement and computing the feedforward gain using the number of
132-
lynxes as the desired output (following FBS2e, Example 7.5):
132+
lynxes as the desired output (following `Feedback Systems
133+
<http://fbsbook.org>`_, Example 7.5):
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134135
..code-block::python
135136
@@ -488,10 +489,10 @@ A reference gain controller can be created with the command::
488489

489490
ctrl, clsys = ct.create_statefbk_iosystem(sys, K, kf, feedfwd_pattern='refgain')
490491

491-
This reference gain design pattern is described in more detail in Section
492-
7.2 ofFBS2e (Stabilization by StateFeedback) and the trajectory
493-
generation design pattern is described in Section 8.5 (State Space
494-
Controller Design).
492+
This reference gain design pattern is described in more detail in
493+
Section7.2 of`Feedback Systems<http://fbsbook.org>`_ (Stabilization
494+
by State Feedback) and the trajectory generation design pattern is
495+
described in Section 8.5 (State SpaceController Design).
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496497
If the full system state is not available, the output of a state
497498
estimator can be used to construct the controller using the command::

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