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Add two MRAC siso examples#914
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This PR will break once#916 is merged. The changes needed to use the new I/O system structure ar straightforward (eg, replace |
coveralls commentedJun 19, 2023 • edited
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This PR needs to be rebased on top of the current main branch to catch the changes in#916, which eliminates theLinearIOSystem class and adds act.nlsys factory function. In addition, it would be good to replace calls to the class constructors (NonlinearIOSystem,InterconnectedSystem, etc) with calls to factor functions (ct.nlsys,ct.interconnect, etc).
doc/examples.rst Outdated
| mrac_siso_direct_mit_rule_statespace | ||
| mrac_siso_direct_lya_rule_statespace |
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Perhaps use shorter filenames? It seems likemrac_siso_mit andmrac_siso_lyapunov would fit the bill.
| @@ -0,0 +1,15 @@ | |||
| Model-Reference Adaptive Control (MRAC) siso, direct lyapunov rule | |||
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I would change "siso" to "SISO" (since it is an acronym) and capitalize Lyapunov (since it is a proper name).
| @@ -0,0 +1,185 @@ | |||
| # mrac_siso_direct_lya_rule_statespace.py | |||
| # June 2023 | |||
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Add author information?
| G_plant_ss = ct.StateSpace(A,B,C,D) | ||
| io_plant = ct.LinearIOSystem( | ||
| G_plant_ss, | ||
| inputs=('u'), | ||
| outputs=('x'), | ||
| states=('x'), | ||
| name='plant' | ||
| ) |
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This can all be done by a single call toct.ss:
io_plant = ct.ss(A, B, C, D, inputs='u', outputs='x', states='x', name='plant')| G_model_ss = ct.StateSpace(Am,Bm,Cm,Dm) | ||
| io_ref_model = ct.LinearIOSystem( | ||
| G_model_ss, | ||
| inputs=('r'), | ||
| outputs=('xm'), | ||
| states=('xm'), | ||
| name='ref_model' | ||
| ) |
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As above, usess instead.
| ) | ||
| # Overall closed loop system | ||
| io_closed = ct.InterconnectedSystem( |
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Usect.interconnect rather than calling the class constructor.
| G_plant_ss = ct.StateSpace(A,B,C,D) | ||
| io_plant = ct.LinearIOSystem( | ||
| G_plant_ss, | ||
| inputs=('u'), | ||
| outputs=('x'), | ||
| states=('x'), | ||
| name='plant' | ||
| ) |
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Replace with call toct.ss.
| G_model_ss = ct.StateSpace(Am,Bm,Cm,Dm) | ||
| io_ref_model = ct.LinearIOSystem( | ||
| G_model_ss, | ||
| inputs=('r'), | ||
| outputs=('xm'), | ||
| states=('xm'), | ||
| name='ref_model' | ||
| ) |
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Replace with call toct.ss.
| params={"gam":1, "Am":Am, "Bm":Bm, "signb":np.sign(B)} | ||
| io_controller = ct.NonlinearIOSystem( |
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Replace with call toct.nlsys.
| ) | ||
| # Overall closed loop system | ||
| io_closed = ct.InterconnectedSystem( |
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Replace with call toct.interconnect.
Thanks for the review. I will incorporate your suggestions. |
I need help. In fact, I'm not sure about the recent commits of this PR. I think I did something wrong. The old files have been merged back into the branch "mrac-examples" by "git rebase main". In steps 8 of the manual, (https://github.com/python-control/python-control/wiki/How-to-contribute-with-a-pull-request) Current situation of "mrac-examples".
Not sure how to fix this. |
doc/examples.rst Outdated
| <<<<<<< HEAD | ||
| mrac_siso_mit | ||
| mrac_siso_lyapunov | ||
| ======= | ||
| mrac_siso_direct_mit_rule_statespace | ||
| mrac_siso_direct_lya_rule_statespace | ||
| >>>>>>> refs/remotes/origin/mrac-examples |
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This is an artifact of a merge, which must be fixed
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Oops I was looking at an intermediate commit. Please rebase so that it does not appear in the commit history.
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In reference to your comment: Do agit rebase -i main and "squash" some commits.
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Thx, I will trygit rebase -i main.
In steps 8 of the manual, (https://github.com/python-control/python-control/wiki/How-to-contribute-with-a-pull-request)
which branch must be updated & synchronized, main or feature?
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Both. First get your local main branch in sync with upstream and then rebase feature onto your synced local main
examples based on Aström & Wittenmark