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2731 lines (2426 loc) · 117 KB
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#!/usr/bin/env python
#
# synthesis.py
#
# Copyright 2010-2011 Enrico Avventi <avventi@Lonewolf>
# Copyright 2011 Jerker Nordh <jerker.nordh@control.lth.se>
#
# This program is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License version 2 as
# published by the Free Software Foundation.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
# MA 02110-1301, USA.
from . import _wrapper
import numpy as _np
import warnings
def sb01bd(n,m,np,alpha,A,B,w,dico,tol=0.0,ldwork=None):
""" A_z,w,nfp,nap,nup,F,Z = sb01bd(n,m,np,alpha,A,B,w,dico,[tol,ldwork])
To determine the state feedback matrix F for a given system (A,B) such that
the closed-loop state matrix A+B*F has specified eigenvalues.
Required arguments
------------------
n : int
The dimension of the state vector, n >= 0.
m : int
The dimension of input vector, m >= 0.
np : int
The number of given eigenvalues. At most n eigenvalues can be
assigned. 0 <= np <= n.
alpha : float
Specifies the maximum admissible value, either for real parts,
if dico = 'C', or for moduli, if dico = 'D', of the eigenvalues of
A which will not be modified by the eigenvalue assignment algorithm.
alpha >= 0 if dico = 'D'.
A : rank-2 array('d'), shape (n,n)
State dynamics matrix.
B : rank-2 array('d'), shape (n,m)
Input/state matrix.
w : rank-1 array('c'), shape (np,)
Array of the desired eigenvalues of the closed-loop system state-matrix
A+B*F. The eigenvalues can be unordered, except that complex conjugate
pairs must appear consecutively.
dico : {'C', 'D'}
Specifies the type of the original system as follows:
= 'C': continuous-time system;
= 'D': discrete-time system.
Optional arguments
------------------
tol : float
The absolute tolerance level below which the elements of A or B are
considered zero (used for controllability tests).
If tol <= 0 the default value is used.
ldwork : int
The length of the cache array. The default value is
max(1,5*m,5*n,2*n+4*m), for optimum performance it should be larger.
Returns
-------
A_z : rank-2 array('d'), shape (n,n)
This array contains the matrix Z'*(A+B*F)*Z in a real Schur form.
The diagonal block A[:nfp,:nfp] corresponds to the fixed (unmodified)
eigenvalues having real parts less than alpha, if dico = 'C', or moduli
less than alpha if dico = 'D'.
The diagonal block A[n-nup:,n-nup:] corresponds to the uncontrollable
eigenvalues detected by the eigenvalue assignment algorithm.
The elements under the first subdiagonal are set to zero.
w : rank-1 array('c'), shape (np,)
The first part w[:nap] contain the assigned eigenvalues.
The rest w[np-nap:] contain the unassigned eigenvalues.
nfp : int
The number of eigenvalues of A having real parts less than alpha,
if dico = 'C', or moduli less than alpha, if dico = 'D'. These
eigenvalues are not modified by the eigenvalue assignment algorithm.
nap : int
The number of assigned eigenvalues.
nup : int
The number of uncontrollable eigenvalues detected by the eigenvalue
assignment algorithm.
F : rank-2 array('d'), shape (m,n)
The state feedback F, which assigns nap closed-loop eigenvalues and
keeps unaltered n-nap open-loop eigenvalues.
Z : rank-2 array('d'), shape (n,n)
The orthogonal matrix Z which reduces the closed-loop system state
matrix A + B*F to upper real Schur form.
Raises
------
ValueError : e
e.info contains information about the exact type of exception
< 0: if info = -i, the i-th argument had an illegal value;
= 1: the reduction of A to a real Schur form failed;
= 2: a failure was detected during the ordering of the
real Schur form of A, or in the iterative process
for reordering the eigenvalues of Z'*(A + B*F)*Z
along the diagonal.
= 3: the number of eigenvalues to be assigned is less
than the number of possibly assignable eigenvalues;
nap eigenvalues have been properly assigned,
but some assignable eigenvalues remain unmodified.
= 4: an attempt is made to place a complex conjugate
pair on the location of a real eigenvalue. This
situation can only appear when n-nfp is odd,
np > n-nfp-nup is even, and for the last real
eigenvalue to be modified there exists no available
real eigenvalue to be assigned. However, nap
eigenvalues have been already properly assigned.
Example
-------
>>> import numpy as np
>>> import slycot
>>> A = np.array([[0, 1, 0],[0, 0, 1],[-2, 1, 3]])
>>> B = np.array([[0], [0], [1]])
>>> np.linalg.eig(A)[0] # open loop eigenvalues
array([ 3.11490754, 0.74589831, -0.86080585])
>>> w = np.array([0.5,0.4,0.2])
>>> out = slycot.sb01bd(3,1,3,1,A,B,w,'D')
>>> A_fb = A + np.dot(B,out[5])
>>> np.linalg.eig(A_fb)[0] # closed loop eigenvalues
array([ 0.2 , 0.40000001, 0.5 ])
"""
hidden = ' (hidden by the wrapper)'
arg_list = ['dico', 'n', 'm', 'np', 'alpha', 'A', 'LDA'+hidden, 'B',
'LDB'+hidden, 'wr'+hidden, 'wi'+hidden, 'nfp', 'nap', 'nup', 'F',
'LDF'+hidden, 'Z', 'LDZ'+hidden, 'tol', 'DWORK'+hidden, 'ldwork',
'IWARN'+hidden, 'INFO'+hidden]
if ldwork is None:
ldwork = max(1,5*m,5*n,2*n+4*m)
A_z,wr,wi,nfp,nap,nup,F,Z,warn,info = _wrapper.sb01bd(dico,n,m,np,alpha,A,B,w.real,w.imag,tol=tol,ldwork=ldwork)
if info < 0:
error_text = "The following argument had an illegal value: "+arg_list[-info-1]
e = ValueError(error_text)
e.info = info
raise e
if info == 1:
e = ValueError('the reduction of A to a real Schur form failed')
e.info = info
raise e
if info == 2:
e = ValueError('a failure was detected during the ordering of eigenvalues')
e.info = info
raise e
if info == 3:
e = ValueError('the number of eigenvalues to be assigned is less than the number of possibly assignable eigenvalues')
e.info = info
raise e
if info == 4:
e = ValueError('an attempt was made to place a complex conjugate pair on the location of a real eigenvalue')
e.info = info
raise e
if warn != 0:
warnings.warn('%i violations of the numerical stability condition occured during the assignment of eigenvalues' % warn)
# put togheter wr and wi into a complex array of eigenvalues
w = _np.zeros(np,'complex64')
w.real = wr[0:np]
w.imag = wi[0:np]
return A_z,w,nfp,nap,nup,F,Z
def sb02md(n,A,G,Q,dico,hinv='D',uplo='U',scal='N',sort='S',ldwork=None):
""" X,rcond,w,S,U,A_inv = sb02md(dico,n,A,G,Q,[hinv,uplo,scal,sort,ldwork])
To solve for X either the continuous-time algebraic Riccati
equation
-1
Q + A'*X + X*A - X*B*R B'*X = 0 (1)
or the discrete-time algebraic Riccati equation
-1
X = A'*X*A - A'*X*B*(R + B'*X*B) B'*X*A + Q (2)
where A, B, Q and R are n-by-n, n-by-m, n-by-n and m-by-m matrices
respectively, with Q symmetric and R symmetric nonsingular; X is
an n-by-n symmetric matrix.
-1
The matrix G = B*R B' must be provided on input, instead of B and
R, that is, for instance, the continuous-time equation
Q + A'*X + X*A - X*G*X = 0 (3)
is solved, where G is an n-by-n symmetric matrix. Slycot Library
routine sb02mt should be used to compute G, given B and R. sb02mt
also enables to solve Riccati equations corresponding to optimal
problems with coupling terms.
The routine also returns the computed values of the closed-loop
spectrum of the optimal system, i.e., the stable eigenvalues
lambda(1),...,lambda(n) of the corresponding Hamiltonian or
symplectic matrix associated to the optimal problem.
Required arguments
------------------
n : int
The order of the matrices A, Q, G and X. n > 0.
A : rank-2 array('d'), shape (n,n)
G : rank-2 array('d'), shape (n,n)
The upper triangular part (if uplo = 'U') or lower triangular
part (if uplo = 'L') of this array must contain the upper
triangular part or lower triangular part, respectively, of the
symmetric matrix G.
Q : rank-2 array('d'), shape (n,n)
The upper triangular part (if uplo = 'U') or lower triangular
part (if uplo = 'L') of this array must contain the upper
triangular part or lower triangular part, respectively,
of the symmetric matrix Q.
dico : {'C', 'D'}
Specifies the type of Riccati equation to be solved as follows:
= 'C': Equation (3), continuous-time case;
= 'D': Equation (2), discrete-time case.
Optional arguments
------------------
hinv : {'D', 'I'}
If dico = 'D', specifies which symplectic matrix is to be
constructed, as follows:
= 'D': The Hamiltonian or sympletic matrix H is constructed;
= 'I': The inverse of the matrix H is constructed.
The default value is 'D'. hinv is not used if DICO = 'C'.
uplo : {'U', 'L'}
Specifies which triangle of the matrices G and Q is stored,
as follows:
= 'U': Upper triangle is stored;
= 'L': Lower triangle is stored.
The default value is 'U'.
scal : {'N', 'G'}
Specifies whether or not a scaling strategy should be used,
as follows:
= 'G': General scaling should be used;
= 'N': No scaling should be used.
The default value is 'N'.
sort : {'S', 'U'}
Specifies which eigenvalues should be obtained in the top of
the Schur form, as follows:
= 'S': Stable eigenvalues come first;
= 'U': Unstable eigenvalues come first.
The default value is 'S'.
ldwork : int
The length of the cache array. The default value is max(3, 6*n),
for optimum performance it should be larger.
Returns
-------
X : rank-2 array('d'), shape (n,n)
The solution matrix of the problem.
rcond : float
An estimate of the reciprocal of the condition number (in
the 1-norm) of the n-th order system of algebraic
equations from which the solution matrix X is obtained.
w : rank-1 array('c'), shape (2 * n)
This array contain the eigenvalues of the 2n-by-2n matrix S, ordered
as specified by sort (except for the case hinv = 'D', when the order
is opposite to that specified by sort). The leading n elements of
this array contain the closed-loop spectrum of the system
-1
matrix A - B*R *B'*X, if dico = 'C', or of the matrix
-1
A - B*(R + B'*X*B) B'*X*A, if dico = 'D'.
S : rank-2 array('d'), shape (2 * n,2 * n)
This array contains the ordered real Schur form S of the Hamiltonian
or symplectic matrix H.
U : rank-2 array('d'), shape (2 * n,2 * n)
This array contains the transformation matrix U which reduces the
Hamiltonian or symplectic matrix H to the ordered real Schur form S.
A_inv : rank-2 array('d'), shape (n,n)
The inverse of A if dico = 'D' or a copy of A itself otherwise.
Raises
------
ValueError : e
e.info contains information about the exact type of exception
< 0: if info = -i, the i-th argument had an illegal value;
= 1: if matrix A is (numerically) singular in discrete-
time case;
= 2: if the Hamiltonian or symplectic matrix H cannot be
reduced to real Schur form;
= 3: if the real Schur form of the Hamiltonian or
symplectic matrix H cannot be appropriately ordered;
= 4: if the Hamiltonian or symplectic matrix H has less
than n stable eigenvalues;
= 5: if the n-th order system of linear algebraic
equations, from which the solution matrix X would
be obtained, is singular to working precision.
Example
-------
>>> import numpy as np
>>> import slycot
>>> A = np.array([[0, 1],[0, 0]])
>>> Q = np.array([[1, 0],[0, 2]])
>>> G = np.array([[0, 0],[0, 1]])
>>> out = slycot.sb02md(2,A,G,Q,'C')
>>> out[0] # X
array([[ 2., 1.],
[ 1., 2.]])
>>> out[1] # rcond
0.3090169943749475
"""
hidden = ' (hidden by the wrapper)'
arg_list = ['dico', 'hinv', 'uplo', 'scal', 'sort', 'n', 'A', 'LDA'+hidden,
'G', 'LDG'+hidden, 'Q', 'LDQ'+hidden, 'rcond', 'wr'+hidden, 'wi'+hidden, 'S',
'LDS'+hidden, 'U', 'LDU'+hidden, 'IWORK'+hidden, 'DWORK'+hidden, 'ldwork',
'BWORK'+hidden, 'INFO'+hidden]
if ldwork is None:
ldwork = max(3,6*n)
A_inv,X,rcond,wr,wi,S,U,info = _wrapper.sb02md(dico,n,A,G,Q,hinv=hinv,uplo=uplo,scal=scal,sort=sort,ldwork=ldwork)
if info < 0:
error_text = "The following argument had an illegal value: "+arg_list[-info-1]
e = ValueError(error_text)
e.info = info
raise e
if info == 1:
e = ValueError('matrix A is (numerically) singular in discrete-time case')
e.info = info
raise e
if info == 2:
e = ValueError('the Hamiltonian or symplectic matrix H cannot be reduced to real Schur form')
e.info = info
raise e
if info == 3:
e = ValueError('the real Schur form of the Hamiltonian or symplectic matrix H cannot be appropriately ordered')
e.info = info
raise e
if info == 4:
e = ValueError('the Hamiltonian or symplectic matrix H has less than n stable eigenvalues')
e.info = info
raise e
if info == 5:
e = ValueError('if the N-th order system of linear algebraic equations is singular to working precision')
e.info = info
raise e
w = _np.zeros(2*n,'complex64')
w.real = wr[0:2*n]
w.imag = wi[0:2*n]
return X,rcond,w,S,U,A_inv
def sb02mt(n,m,B,R,A=None,Q=None,L=None,fact='N',jobl='Z',uplo='U',ldwork=None):
""" A_b,B_b,Q_b,R_b,L_b,ipiv,oufact,G = sb02mt(n,m,B,R,[A,Q,L,fact,jobl,uplo,ldwork])
To compute the following matrices
-1
G = B*R *B',
-1
A_b = A - B*R *L',
-1
Q_b = Q - L*R *L',
where A, B, Q, R, L, and G are n-by-n, n-by-m, n-by-n, m-by-m, n-by-m,
and n-by-n matrices, respectively, with Q, R and G symmetric matrices.
When R is well-conditioned with respect to inversion, standard algorithms
for solving linear-quadratic optimization problems will then also solve
optimization problems with coupling weighting matrix L.
Required arguments
------------------
n : int
The order of the matrices A, Q, and G, and the number of rows of
the matrices B and L. n >= 0.
m : int
The order of the matrix R, and the number of columns of the matrices
B and L. m >= 0.
B : rank-2 array('d'), shape (n,m)
R : rank-2 array('d'), shape (m,m)
If fact = 'N', the upper/lower triangular part of this array must
contain the upper/lower triangular part, of the symmetric input
weighting matrix R.
If fact = 'C', the upper/lower triangular part of this array must
contain the Cholesky factor of the positive definite input weighting
matrix R.
Optional arguments
------------------
A : rank-2 array('d'), shape (n,n)
If jobl = 'Z', this matrix is not needed.
Q : rank-2 array('d'), shape (n,n)
If jobl = 'Z', this matrix is not needed. Otherwise the upper/lower
triangular part of this array (depending on uplo) must contain the
corresponding part of matrix Q.
L : rank-2 array('d'), shape (n,m)
If jobl = 'Z', this matrix is not needed.
fact : {'N', 'C'}
Specifies how the matrix R is given (factored or not), as follows:
= 'N': Array R contains the matrix R,
= 'C': Array R contains the Cholesky factor of R.
The default value is 'N'.
jobl : {'Z', 'N'}
When equal to 'Z', L is considered as a zero matrix and A,Q and L are
not needed. A,Q and L are required otherwise.The default value is 'Z'.
uplo : {'U', 'L'}
Specifies which triangle of the matrices R and Q (if jobl = 'N')
is stored, as follows:
= 'U': Upper triangle is stored;
= 'L': Lower triangle is stored.
The default value is 'U'.
ldwork : int
The length of the cache array. Whenever fact = 'N' the default value
is max(2,3*m,n*m), for optimum performance it should be larger.
No cache is needed if fact = 'C', defaults at 1.
Returns
-------
A_b : rank-2 array('d'), shape (n,n)
If jobl = 'Z', this is None.
B_b : rank-2 array('d'), shape (n,m)
-1
If oufact = 1 this array contains the matrix B*chol(R) . It is a copy
of input B if oufact = 2.
Q_b : rank-2 array('d'), shape (n,n)
If jobl = 'Z', this is None. Otherwise the upper/lower triangular part
of this array contain the corresponding triangular part of matrix Q_b
(depending on uplo).
R_b : rank-2 array('d'), shape (m,m)
If oufact = 1, the upper/lower triangular part of this array contains
the Cholesky factor of the given input weighting matrix.
If oufact = 2, the upper/lower triangular part of this array contains
the factors of the UdU' or LdL' factorization, respectively, of the given
input weighting matrix.
If fact = 'C' it is a copy of input R.
L_b : rank-2 array('d'), shape (n,m)
If jobl = 'Z', this is None. If oufact = 1, this array contains the matrix
-1
L*chol(R) .If oufact = 2 this contains a copy of input L.
ipiv : rank-1 array('i'), shape (m,)
If oufact = 2, this array contains details of the interchanges
performed and the block structure of the d factor in the UdU' or
LdL' factorization of matrix R, as produced by LAPACK routine DSYTRF.
Otherwise it is None.
oufact : int
Information about the factorization finally used.
oufact = 1: Cholesky factorization of R has been used;
oufact = 2: UdU' (if uplo = 'U') or LdL' (if uplo = 'L')
factorization of R has been used.
G : rank-2 array('d'), shape (n,n)
The upper/lower triangular part of this array contains the corresponding
triangular part of the matrix G.
Raises
------
ValueError : e
e.info contains information about the exact type of exception
< 0: if info = -i, the i-th argument had an illegal value;
= i: if the i-th element (1 <= i <= m) of the d factor is
exactly zero; the UdU' (or LdL') factorization has
been completed, but the block diagonal matrix d is
exactly singular;
= m+1: if the matrix R is numerically singular.
"""
hidden = ' (hidden by the wrapper)'
arg_list = ['JOBG'+hidden, 'jobl', 'fact', 'uplo', 'n', 'm', 'A',
'LDA'+hidden, 'B', 'LDB'+hidden, 'Q', 'LDQ'+hidden, 'R', 'LDR'+hidden, 'L',
'LDL'+hidden, 'ipiv', 'oufact', 'G', 'LDG'+hidden, 'IWORK'+hidden,
'DWORK'+hidden, 'ldwork', 'INFO'+hidden]
out = None
if fact == 'N' and ldwork is None:
ldwork = max(2,3*m,n*m)
if jobl == 'Z':
if fact == 'C':
out = _wrapper.sb02mt_c(n,m,B,R,uplo=uplo)
if fact == 'N':
out = _wrapper.sb02mt_n(n,m,B,R,uplo=uplo,ldwork=ldwork)
if out is None:
raise ValueError('fact must be either C or N.')
else:
if A is None or Q is None or L is None:
raise ValueError('matrices A,Q and L are required if jobl is not Z.')
if fact == 'C':
out = _wrapper.sb02mt_cl(n,m,A,B,Q,R,L,uplo=uplo)
if fact == 'N':
out = _wrapper.sb02mt_nl(n,m,A,B,Q,R,L,uplo=uplo,ldwork=ldwork)
if out is None:
raise ValueError('fact must be either C or N.')
if out[-1] < 0:
error_text = "The following argument had an illegal value: "+arg_list[-out[-1]-1]
e = ValueError(error_text)
e.info = out[-1]
raise e
if out[-1] > 0 and out[-1] <= m:
e = ValueError('the %i-th elemend of d in the UdU (LdL) factorization is zero.'%out[-1])
e.info = out[-1]
raise e
if out[-1] == m+1:
e = ValueError('matrix R is numerically singular.')
e.info = out[-1]
raise e
return out[:-1]
def sb02od(n,m,A,B,Q,R,dico,p=None,L=None,fact='N',uplo='U',sort='S',tol=0.0,ldwork=None):
""" X,rcond,w,S,T = sb02od(n,m,A,B,Q,R,dico,[p,L,fact,uplo,sort,tol,ldwork])
To solve for X either the continuous-time algebraic Riccati
equation
-1
Q + A'X + XA - (L+XB)R (L+XB)' = 0 (1)
or the discrete-time algebraic Riccati equation
-1
X = A'XA - (L+A'XB)(R + B'XB) (L+A'XB)' + Q (2)
where A, B, Q, R, and L are n-by-n, n-by-m, n-by-n, m-by-m and
n-by-m matrices, respectively, such that Q = C'C, R = D'D and
L = C'D; X is an n-by-n symmetric matrix.
The routine also returns the computed values of the closed-loop
spectrum of the system, i.e., the stable eigenvalues w(1),
..., w(n) of the corresponding Hamiltonian or symplectic
pencil, in the continuous-time case or discrete-time case,
respectively.
Optionally, Q and/or R may be given in a factored form, Q = C'C,
R = D'D, and L may be treated as a zero matrix.
The routine uses the method of deflating subspaces, based on
reordering the eigenvalues in a generalized Schur matrix pair.
Required arguments
------------------
n : int
The actual state dimension, i.e. the order of the matrices A, Q,
and X, and the number of rows of the matrices B and L. n > 0.
m : int
The number of system inputs, the order of the matrix R, and the
number of columns of the matrix B. m > 0.
A : rank-2 array('d'), shape (n,n)
The state matrix of the system.
B : rank-2 array('d'), shape (n,m)
The input matrix of the system.
Q : rank-2 array('d'), shape (n,n) or (p,n)
If fact = 'N' or 'D', the shape must be (n,n) and the upper/lower
triangular part (depending on uplo) of this array must contain
the corresponding triangular part of the symmetric state weighting
matrix Q.
If fact = 'C' or 'B', the shape must be (p,n) and of this array must
contain the output matrix C of the system.
R : rank-2 array('d'), shape (m,m) or (p,m)
If fact = 'N' or 'C', the shape must be (m,m) and the upper/lower
triangular part (depending on uplo) of this array must contain the
corresponding triangular part of the symmetric input weighting matrix R.
If FACT = 'D' or 'B', the shape must be (p,m) and this array must
contain the direct transmission matrix D of the system.
dico : {'C', 'D'}
Specifies the type of Riccati equation to be solved as follows:
= 'C': Equation (1), continuous-time case;
= 'D': Equation (2), discrete-time case.
Optional arguments
------------------
p : int
The number of system outputs. If fact = 'C' or 'D' or 'B',
p is the number of rows of the matrices C and/or D. p > 0.
If fact = 'N' it is not needed.
L : rank-2 array('d'), shape (n,m)
If L is not specified it will considered as a zero matrix of the
appropriate dimensions.
fact : {'N', 'C', 'D', 'B'}
Specifies whether or not the matrices Q and/or R are factored,
as follows:
= 'N': Not factored, Q and R are given;
= 'C': C is given, and Q = C'C;
= 'D': D is given, and R = D'D;
= 'B': Both factors C and D are given, Q = C'C, R = D'D.
The default value is 'N'.
uplo : {'U', 'L'}
If fact = 'N', specifies which triangle of Q and R is stored,
as follows:
= 'U': Upper triangle is stored;
= 'L': Lower triangle is stored.
The default value is 'U'.
sort : {'S', 'U'}
Specifies which eigenvalues should be obtained in the top of
the generalized Schur form, as follows:
= 'S': Stable eigenvalues come first;
= 'U': Unstable eigenvalues come first.
The default value is 'S'.
tol : float
The tolerance to be used in rank determination of the original
matrix pencil, specifically of the triangular factor obtained during
the reduction process. If tol <= 0 a default value is used.
ldwork : int
The length of the cache array. The default value is
max(7*(2*n+1)+16,16*n,2*n+m,3*m), for optimum performance it should
be larger.
Returns
-------
X : rank-2 array('d'), shape (n,n)
The solution matrix of the problem.
rcond : float
An estimate of the reciprocal of the condition number (in
the 1-norm) of the n-th order system of algebraic equations
from which the solution matrix X is obtained.
w : rank-1 array('c'), shape (2 * n)
The generalized eigenvalues of the 2n-by-2n matrix pair, ordered as
specified by sort. For instance, if sort = 'S', the leading n
elements of these arrays contain the closed-loop spectrum of the
system matrix A - BF, where F is the optimal feedback matrix computed
based on the solution matrix X.
S : rank-2 array('d'), shape (2*n+m,2 * n)
This array contains the ordered real Schur form S of the first matrix
in the reduced matrix pencil associated to the optimal problem, or of
the corresponding Hamiltonian matrix
T : rank-2 array('d'), shape (2*n+m+1,2 * n)
This array contains the ordered upper triangular form T of the second
matrix in the reduced matrix pencil associated to the optimal problem.
Raises
------
ValueError : e
e.info contains information about the exact type of exception
< 0: if info = -i, the i-th argument had an illegal value;
= 1: if the computed extended matrix pencil is singular,
possibly due to rounding errors;
= 2: if the QZ (or QR) algorithm failed;
= 3: if reordering of the (generalized) eigenvalues failed;
= 4: if after reordering, roundoff changed values of
some complex eigenvalues so that leading eigenvalues
in the (generalized) Schur form no longer satisfy
the stability condition; this could also be caused
due to scaling;
= 5: if the computed dimension of the solution does not
equal n;
= 6: if a singular matrix was encountered during the
computation of the solution matrix X.
Example
-------
>>> import numpy as np
>>> import slycot
>>> A = np.array([[0, 1],[0, 0]])
>>> B = np.array([[0],[1]])
>>> C = np.array([[1, 0],[0, 1],[0, 0]])
>>> Q = np.dot(C.T,C)
>>> R = np.ones((1,1))
>>> out = slycot.sb02od(2,1,A,B,Q,R,'C')
>>> out[0] # X
array([[ 1.73205081, 1. ],
[ 1. , 1.73205081]])
>>> out[1] # rcond
0.4713846564431681
"""
hidden = ' (hidden by the wrapper)'
arg_list = ['dico', 'jobb'+hidden, 'fact', 'uplo', 'jobl', 'sort', 'n',
'm', 'p', 'A', 'LDA'+hidden, 'B', 'LDB'+hidden, 'Q', 'LDQ'+hidden,
'R', 'LDR'+hidden, 'L', 'LDL'+hidden, 'rcond', 'X', 'LDX'+hidden,
'alfar'+hidden, 'alfai'+hidden, 'beta'+hidden, 'S', 'LDS'+hidden, 'T',
'LDT'+hidden, 'U', 'LDU'+hidden, 'tol', 'IWORK'+hidden, 'DWORK'+hidden,
'ldwork', 'BWORK'+hidden, 'INFO'+hidden]
if ldwork is None:
ldwork = max([7*(2*n+1)+16,16*n,2*n+m,3*m])
jobl = 'N'
if L is None:
L = _np.zeros((n,m))
jobl = 'Z'
out = None
if fact == 'N':
out = _wrapper.sb02od_n(dico,n,m,A,B,Q,R,L,uplo=uplo,jobl=jobl,sort=sort,tol=tol,ldwork=ldwork)
if fact == 'C':
if p is None:
p = shape(Q)[0]
out = _wrapper.sb02od_c(dico,n,m,p,A,B,Q,R,L,uplo=uplo,jobl=jobl,sort=sort,tol=tol,ldwork=ldwork)
if fact == 'D':
if p is None:
p = shape(R)[0]
out = _wrapper.sb02od_d(dico,n,m,p,A,B,Q,R,L,uplo=uplo,jobl=jobl,sort=sort,tol=tol,ldwork=ldwork)
if fact == 'B':
if p is None:
p = shape(Q)[0]
out = _wrapper.sb02od_b(dico,n,m,p,A,B,Q,R,L,uplo=uplo,jobl=jobl,sort=sort,tol=tol,ldwork=ldwork)
if out[-1] < 0:
error_text = "The following argument had an illegal value: "+arg_list[-out[-1]-1]
e = ValueError(error_text)
e.info = info
raise e
if out[-1] == 1:
e = ValueError('the computed extended matrix pencil is singular, possibly due to rounding errors')
e.info = out[-1]
raise e
if out[-1] == 2:
e = ValueError('the QZ (or QR) algorithm failed')
e.info = out[-1]
raise e
if out[-1] == 3:
e = ValueError('reordering of the (generalized) eigenvalues failed')
e.info = out[-1]
raise e
if out[-1] == 4:
e = ValueError('stability condition failed due to roudoff errors')
e.info = out[-1]
raise e
if out[-1] == 5:
e = ValueError('the computed dimension of the solution does not equal N')
e.info = out[-1]
raise e
if out[-1] == 6:
e = ValueError('a singular matrix was encountered during the computation')
e.info = out[-1]
raise e
rcond,X,alphar,alphai,beta,S,T = out[:-1]
w = _np.zeros(2*n,'complex64')
w.real = alphar[0:2*n]/beta[0:2*n]
w.imag = alphai[0:2*n]/beta[0:2*n]
return X,rcond,w,S,T
def sb03md(n,C,A,U,dico,job='X',fact='N',trana='N',ldwork=None):
""" X,scale,sep,ferr,w = sb03md(dico,n,C,A,U,[job,fact,trana,ldwork])
To solve for X either the real continuous-time Lyapunov equation
op(A)'*X + X*op(A) = scale*C (1)
or the real discrete-time Lyapunov equation
op(A)'*X*op(A) - X = scale*C (2)
and/or estimate an associated condition number, called separation,
where op(A) = A or A' (A**T) and C is symmetric (C = C').
(A' denotes the transpose of the matrix A.) A is n-by-n, the right
hand side C and the solution X are n-by-n, and scale is an output
scale factor, set less than or equal to 1 to avoid overflow in X.
Required arguments
------------------
n : input int
The order of the matrices A, X, and C. n > 0.
C : input rank-2 array('d'), shape (n,n)
If job = 'X' or 'B', the leading n-by-n part of this array must
contain the symmetric matrix C. If job = 'S', C is not referenced.
A : input rank-2 array('d'), shape (n,n)
On entry, the leading n-by-n part of this array must contain the
matrix A. If fact = 'F', then A contains an upper quasi-triangular
matrix in Schur canonical form; the elements below the upper
Hessenberg part of the array A are not referenced.
On exit, the leading n-by-n upper Hessenberg part of this array
contains the upper quasi-triangular matrix in Schur canonical form
from the Schur factorization of A. The contents of array A is not
modified if fact = 'F'.
U : input rank-2 array('d'), shape (n,n)
If fact = 'F', then U is an input argument and on entry the leading
n-by-n part of this array must contain the orthogonal matrix U of
the real Schur factorization of A.
If fact = 'N', then U is an output argument and on exit, it contains
the orthogonal n-by-n matrix from the real Schur factorization of A.
dico : input string(len=1)
Specifies the equation from which X is to be determined as follows:
= 'C': Equation (1), continuous-time case;
= 'D': Equation (2), discrete-time case.
Optional arguments
------------------
job := 'X' input string(len=1)
Specifies the computation to be performed, as follows:
= 'X': Compute the solution only;
= 'S': Compute the separation only;
= 'B': Compute both the solution and the separation.
fact := 'N' input string(len=1)
Specifies whether or not the real Schur factorization of the matrix
A is supplied on entry, as follows:
= 'F': On entry, A and U contain the factors from the real Schur
factorization of the matrix A;
= 'N': The Schur factorization of A will be computed and the factors
will be stored in A and U.
trana := 'N' input string(len=1)
Specifies the form of op(A) to be used, as follows:
= 'N': op(A) = A (No transpose);
= 'T': op(A) = A**T (Transpose);
= 'C': op(A) = A**T (Conjugate transpose = Transpose).
ldwork := None input int
The length of the cache array. The default value is max(2*n*n,3*n),
for optimum performance it should be larger.
Return objects
--------------
X : rank-2 array('d'), shape (n,n)
If job = 'X' or 'B', the leading n-by-n part contains the symmetric
solution matrix.
scale : float
The scale factor, scale, set less than or equal to 1 to prevent
the solution from overflowing.
sep : float
If job = 'S' or 'B', sep contains the estimated separation of
the matrices op(A) and -op(A)', if dico = 'C' or of op(A) and op(A)',
if dico = 'D'.
ferr : float
If job = 'B', ferr contains an estimated forward error bound for
the solution X. If X_true is the true solution, ferr bounds the
relative error in the computed solution, measured in the Frobenius
norm: norm(X - X_true)/norm(X_true).
w : rank-1 array('c'), shape (n)
If fact = 'N', this array contain the eigenvalues of A.
Raises
------
ValueError : e
e.info contains information about the exact type of exception
< 0: if info = -i, the i-th argument had an illegal value;
> 0: if info = i, the QR algorithm failed to compute all
the eigenvalues (see LAPACK Library routine DGEES);
elements i+1:n of w contain eigenvalues which have converged,
and A contains the partially converged Schur form;
= N+1: if dico = 'C', and the matrices A and -A' have
common or very close eigenvalues, or
if dico = 'D', and matrix A has almost reciprocal
eigenvalues (that is, lambda(i) = 1/lambda(j) for
some i and j, where lambda(i) and lambda(j) are
eigenvalues of A and i <> j); perturbed values were
used to solve the equation (but the matrix A is
unchanged).
"""
hidden = ' (hidden by the wrapper)'
arg_list = ['dico', 'job', 'fact', 'trana', 'n', 'A', 'LDA'+hidden, 'U',
'LDU'+hidden, 'C', 'LDC'+hidden, 'scale', 'sep', 'ferr', 'wr'+hidden,
'wi'+hidden, 'IWORK'+hidden, 'DWORK'+hidden, 'ldwork', 'INFO'+hidden]
if ldwork is None:
ldwork = max(2*n*n,3*n)
if dico != 'C' and dico != 'D':
raise ValueError('dico must be either D or C')
out = _wrapper.sb03md(dico,n,C,A,U,job=job,fact=fact,trana=trana,ldwork=ldwork)
if out[-1] < 0:
error_text = "The following argument had an illegal value: "+arg_list[-out[-1]-1]
e = ValueError(error_text)
e.info = out[-1]
raise e
if out[-1] == n+1:
if dico == 'D':
error_text = 'The matrix A has eigenvalues that are almost reciprocal.'
else:
error_text = 'The matrix A and -A have common or very close eigenvalues.'
e = ValueError(error_text)
e.info = out[-1]
raise e
else:
if out[-1] > 0:
error_text = """The QR algorithm failed to compute all the eigenvalues
(see LAPACK Library routine DGEES); elements %i:%i of w contains
eigenvalues which have converged, A contains the partially
converged Shur form'""" %(out[-1],n) # not sure about the indenting here
e = ValueError(error_text)
e.info = out[-1]
raise e
X,scale,sep,ferr,wr,wi = out[:-1]
w = _np.zeros(n,'complex64')
w.real = wr[0:n]
w.imag = wi[0:n]
return X,scale,sep,ferr,w
def sb03od(n,m,A,Q,B,dico,fact='N',trans='N',ldwork=None):
""" U,scale,w = sb03od(dico,n,m,A,Q,B,[fact,trans,ldwork])
To solve for X = op(U)'*op(U) either the stable non-negative
definite continuous-time Lyapunov equation
2
op(A)'*X + X*op(A) = -scale *op(B)'*op(B) (1)
or the convergent non-negative definite discrete-time Lyapunov
equation
2
op(A)'*X*op(A) - X = -scale *op(B)'*op(B) (2)
where op(K) = K or K' (i.e., the transpose of the matrix K), A is
an N-by-N matrix, op(B) is an M-by-N matrix, U is an upper
triangular matrix containing the Cholesky factor of the solution
matrix X, X = op(U)'*op(U), and scale is an output scale factor,
set less than or equal to 1 to avoid overflow in X. If matrix B
has full rank then the solution matrix X will be positive-definite
and hence the Cholesky factor U will be nonsingular, but if B is
rank deficient then X may be only positive semi-definite and U
will be singular.
In the case of equation (1) the matrix A must be stable (that
is, all the eigenvalues of A must have negative real parts),
and for equation (2) the matrix A must be convergent (that is,
all the eigenvalues of A must lie inside the unit circle).
Required arguments
------------------
n : input int
The order of the matrix A and the number of columns in
matrix op(B). n >= 0.
m : input int
The number of rows in matrix op(B). m >= 0.
A : input rank-2 array('d'), shape (n,n)
On entry, the leading n-by-n part of this array must
contain the matrix A. If fact = 'F', then A contains
an upper quasi-triangular matrix S in Schur canonical
form; the elements below the upper Hessenberg part of the
array A are not referenced.
On exit, the leading n-by-n upper Hessenberg part of this
array contains the upper quasi-triangular matrix S in
Schur canonical form from the Shur factorization of A.
The contents of array A is not modified if fact = 'F'.
Q : input rank-2 array('d'), shape (n,n)
On entry, if fact = 'F', then the leading n-by-n part of
this array must contain the orthogonal matrix Q of the
Schur factorization of A.
Otherwise, Q need not be set on entry.
On exit, the leading n-by-n part of this array contains
the orthogonal matrix Q of the Schur factorization of A.
The contents of array Q is not modified if fact = 'F'.
B : input rank-2 array('d'), shape (m,n)
On entry, if trans = 'N', the leading m-by-n part of this
array must contain the coefficient matrix B of the
equation.
On entry, if trans = 'T', the leading N-by-m part of this
array must contain the coefficient matrix B of the
equation.
On exit, the leading n-by-n part of this array contains
the upper triangular Cholesky factor U of the solution
matrix X of the problem, X = op(U)'*op(U).
If m = 0 and n > 0, then U is set to zero.
dico : input string(len=1)
Specifies the type of Lyapunov equation to be solved as
follows:
= 'C': Equation (1), continuous-time case;
= 'D': Equation (2), discrete-time case.
Optional arguments
------------------
fact := 'N' input string(len=1)
Specifies whether or not the real Schur factorization
of the matrix A is supplied on entry, as follows:
= 'F': On entry, A and Q contain the factors from the
real Schur factorization of the matrix A;
= 'N': The Schur factorization of A will be computed
and the factors will be stored in A and Q.
trans := 'N' input string(len=1)
Specifies the form of op(K) to be used, as follows:
= 'N': op(K) = K (No transpose);
= 'T': op(K) = K**T (Transpose).
ldwork := None input int
The length of the array DWORK.
If m > 0, ldwork >= max(1,4*n + min(m,n));
If m = 0, ldwork >= 1.
For optimum performance ldwork should sometimes be larger.
Return objects
______________
U : rank-2 array('d'), shape (n,n)
The leading n-by-n part of this array contains
the upper triangular Cholesky factor U of the solution
matrix X of the problem, X = op(U)'*op(U).
scale : float
The scale factor, scale, set less than or equal to 1 to
prevent the solution overflowing.
w : rank-1 array('c'), shape (n)
If fact = 'N', this array contains the eigenvalues of A.
Raises
______
ValueError : e
e.info contains information about the exact type of exception
< 0: if info = -i, the i-th argument had an illegal value;
= 1: if the Lyapunov equation is (nearly) singular
(warning indicator);
if DICO = 'C' this means that while the matrix A
(or the factor S) has computed eigenvalues with
negative real parts, it is only just stable in the
sense that small perturbations in A can make one or
more of the eigenvalues have a non-negative real