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I/O system enhancements #710

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Merged
murrayrm merged 7 commits into from
Mar 23, 2022
Merged

I/O system enhancements #710

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f712096
ss, rss, drss return LinearIOSystem
murrayrm Mar 13, 2022
4b0584d
create _NamedIOSystem, _NamedIOStateSystem parent classes
murrayrm Mar 14, 2022
2b13747
add create_statefbk_iosystem + unit tests
murrayrm Mar 15, 2022
213905c
add integral_action option to lqr/dlqr
murrayrm Mar 16, 2022
ca77cca
update create_statefbk_iosys/lqr/dlqr errors + unit tests
murrayrm Mar 16, 2022
effd6b6
add documentation on integral action to lqr/dqlr
murrayrm Mar 16, 2022
316945d
use super() for LTI functions
murrayrm Mar 20, 2022
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update create_statefbk_iosys/lqr/dlqr errors + unit tests
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@murrayrm
murrayrm committed Mar 16, 2022
commit ca77cca687af1e79bc05bf7c27d31f4f87da30a4
6 changes: 3 additions & 3 deletions control/statefbk.py
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Original file line number Diff line number Diff line change
Expand Up @@ -698,7 +698,7 @@ def lqr(*args, **kwargs):
raise ControlArgument("Integral action must pass an array")
elif integral_action.shape[1] != nstates:
raise ControlArgument(
"Integral gain output size must match system input size")
"Integral gain size must match system state size")

# Process the states to be integrated
nintegrators = integral_action.shape[0]
Expand Down Expand Up @@ -829,7 +829,7 @@ def dlqr(*args, **kwargs):
raise ControlArgument("Integral action must pass an array")
elif integral_action.shape[1] != nstates:
raise ControlArgument(
"Integral gain output size must match system input size")
"Integral gain size must match system state size")
else:
nintegrators = integral_action.shape[0]
C = integral_action
Expand Down Expand Up @@ -951,7 +951,7 @@ def create_statefbk_iosystem(
raise ControlArgument("Integral action must pass an array")
elif integral_action.shape[1] != sys.nstates:
raise ControlArgument(
"Integral gain output size must match system input size")
"Integral gain size must match system state size")
else:
nintegrators = integral_action.shape[0]
C = integral_action
Expand Down
59 changes: 59 additions & 0 deletions control/tests/statefbk_test.py
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Expand Up @@ -826,3 +826,62 @@ def test_lqr_integral_discrete(self):
np.testing.assert_array_almost_equal(ctrl.B, B_ctrl)
np.testing.assert_array_almost_equal(ctrl.C, C_ctrl)
np.testing.assert_array_almost_equal(ctrl.D, D_ctrl)

@pytest.mark.parametrize(
"rss_fun, lqr_fun",
[(ct.rss, lqr), (ct.drss, dlqr)])
def test_lqr_errors(self, rss_fun, lqr_fun):
# Generate a discrete time system for testing
sys = rss_fun(4, 4, 2, strictly_proper=True)

with pytest.raises(ControlArgument, match="must pass an array"):
K, _, _ = lqr_fun(
sys, np.eye(sys.nstates), np.eye(sys.ninputs),
integral_action="invalid argument")

with pytest.raises(ControlArgument, match="gain size must match"):
C_int = np.eye(2, 3)
K, _, _ = lqr_fun(
sys, np.eye(sys.nstates), np.eye(sys.ninputs),
integral_action=C_int)

with pytest.raises(TypeError, match="unrecognized keywords"):
K, _, _ = lqr_fun(
sys, np.eye(sys.nstates), np.eye(sys.ninputs),
integrator=None)

def test_statefbk_errors(self):
sys = ct.rss(4, 4, 2, strictly_proper=True)
K, _, _ = ct.lqr(sys, np.eye(sys.nstates), np.eye(sys.ninputs))

with pytest.raises(ControlArgument, match="must be I/O system"):
sys_tf = ct.tf([1], [1, 1])
ctrl, clsys = ct.create_statefbk_iosystem(sys_tf, K)

with pytest.raises(ControlArgument, match="output size must match"):
est = ct.rss(3, 3, 2)
ctrl, clsys = ct.create_statefbk_iosystem(sys, K, estimator=est)

with pytest.raises(ControlArgument, match="must be the full state"):
sys_nf = ct.rss(4, 3, 2, strictly_proper=True)
ctrl, clsys = ct.create_statefbk_iosystem(sys_nf, K)

with pytest.raises(ControlArgument, match="gain must be an array"):
ctrl, clsys = ct.create_statefbk_iosystem(sys, "bad argument")

with pytest.raises(ControlArgument, match="unknown type"):
ctrl, clsys = ct.create_statefbk_iosystem(sys, K, type=1)

# Errors involving integral action
C_int = np.eye(2, 4)
K_int, _, _ = ct.lqr(
sys, np.eye(sys.nstates + C_int.shape[0]), np.eye(sys.ninputs),
integral_action=C_int)

with pytest.raises(ControlArgument, match="must pass an array"):
ctrl, clsys = ct.create_statefbk_iosystem(
sys, K_int, integral_action="bad argument")

with pytest.raises(ControlArgument, match="must be an array of size"):
ctrl, clsys = ct.create_statefbk_iosystem(
sys, K, integral_action=C_int)