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repagh merged 13 commits into from
May 11, 2020
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Add sb10fd #118

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f528c17
add sb10fd, an alternative routine for H-infinity control
repagh May 5, 2020
ec69a7a
add failing test case from python-control issue #367
repagh May 5, 2020
8bdb769
adapt testing and doc for sb10fd to new structure
repagh May 11, 2020
3955b01
Update slycot/synthesis.py
repagh May 11, 2020
7c087dc
Update slycot/synthesis.py
repagh May 11, 2020
88be4c8
Update slycot/synthesis.py
repagh May 11, 2020
825a84a
Update slycot/synthesis.py
repagh May 11, 2020
1c9d2b4
Update slycot/synthesis.py
repagh May 11, 2020
4443cc9
Update slycot/tests/test_sb.py
repagh May 11, 2020
79cb1c0
Update slycot/synthesis.py
repagh May 11, 2020
055c463
some final tweaks to docstring
repagh May 11, 2020
a9d9f9e
Apply suggestions from code review
repagh May 11, 2020
d546be0
Update slycot/__init__.py [skip ci]
repagh May 11, 2020
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Update slycot/synthesis.py 
Co-authored-by: Ben Greiner <code@bnavigator.de>
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@repagh @bnavigator
repagh and bnavigator authored May 11, 2020
commit 3955b013e669312684c3a815f19277528ed650fb
18 changes: 12 additions & 6 deletions slycot/synthesis.py
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Expand Up @@ -2456,12 +2456,16 @@ def sb10fd(n,m,np,ncon,nmeas,gamma,A,B,C,D,tol=0.0,ldwork=None):

To compute the matrices of an H-infinity (sub)optimal n-state
controller

::

| AK | BK |
K = |----|----|,
| CK | DK |

using modified Glover's and Doyle's 1988 formulas, for the system

::

| A | B1 B2 | | A | B |
P = |----|---------| = |---|---|
Expand All @@ -2473,16 +2477,18 @@ def sb10fd(n,m,np,ncon,nmeas,gamma,A,B,C,D,tol=0.0,ldwork=None):
of measurements (nmeas) being provided to the controller.

It is assumed that

::

(A1) (A,B2) is stabilizable and (C2,A) is detectable,
(A1) (A,B2) is stabilizable and (C2,A) is detectable,

(A2) D12 is full column rank and D21 is full row rank,
(A2) D12 is full column rank and D21 is full row rank,

(A3) | A-j*omega*I B2 | has full column rank for all omega,
| C1 D12 |
(A3) | A-j*omega*I B2 | has full column rank for all omega,
| C1 D12 |

(A4) | A-j*omega*I B1 | has full row rank for all omega.
| C2 D21 |
(A4) | A-j*omega*I B1 | has full row rank for all omega.
| C2 D21 |

Parameters
----------
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