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Optimal control enhancements #712

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Merged
murrayrm merged 4 commits into from
Mar 30, 2022
Merged

Optimal control enhancements #712

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79d1193
add not implemented test/fix for continuous MPC
murrayrm Mar 19, 2022
19c1d58
optimal improvements: defaults, docs, t_eval, cost
murrayrm Mar 20, 2022
b2e86b8
unit test for nonuniform sampling in simulations
murrayrm Mar 20, 2022
f3d46bc
rebase cleanup
murrayrm Mar 23, 2022
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add not implemented test/fix for continuous MPC
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@murrayrm
murrayrm committed Mar 23, 2022
commit 79d11935799b5bfacb5abab3048dc6dd3b93faaa
17 changes: 16 additions & 1 deletion control/tests/optimal_test.py
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Expand Up @@ -117,7 +117,7 @@ def test_discrete_lqr():
assert np.any(np.abs(res1.inputs - res2.inputs) > 0.1)


def test_mpc_iosystem():
def test_mpc_iosystem_aircraft():
# model of an aircraft discretized with 0.2s sampling time
# Source: https://www.mpt3.org/UI/RegulationProblem
A = [[0.99, 0.01, 0.18, -0.09, 0],
Expand Down Expand Up @@ -171,6 +171,21 @@ def test_mpc_iosystem():
xout[0:sys.nstates, -1], xd, atol=0.1, rtol=0.01)


def test_mpc_iosystem_continuous():
# Create a random state space system
sys = ct.rss(2, 1, 1)
T, _ = ct.step_response(sys)

# provide penalties on the system signals
Q = np.eye(sys.nstates)
R = np.eye(sys.ninputs)
cost = opt.quadratic_cost(sys, Q, R)

# Continuous time MPC controller not implemented
with pytest.raises(NotImplementedError):
ctrl = opt.create_mpc_iosystem(sys, T, cost)


# Test various constraint combinations; need to use a somewhat convoluted
# parametrization due to the need to define sys instead the test function
@pytest.mark.parametrize("constraint_list", [
Expand Down