Skip to content

Small fixes based on Caltech CDS 112 course #849

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
murrayrm merged 12 commits into from
Mar 24, 2023
Merged

Small fixes based on Caltech CDS 112 course #849

Show file tree
Hide file tree
Changes from 1 commit
Commits
Show all changes
12 commits
Select commit Hold shift + click to select a range
99ec022
add link to documentation for step_info
murrayrm Jan 13, 2023
c03b771
rename 'type' keyword
bnavigator Feb 2, 2023
cd89353
add entry for unused kwargs in create_statefbk_iosystem
murrayrm Jan 14, 2023
c90781d
require at least 3 points for point_to_point w/ cost, constraints
murrayrm Jan 21, 2023
dd1e2d3
add support for 1D gain scheduling
murrayrm Jan 21, 2023
1535738
update integral_action docstrings (must be ndarray)
murrayrm Feb 2, 2023
1a32831
add signal name kwargs for create_mpc_iosysm + kwargs testing for ct.…
murrayrm Feb 4, 2023
20177f2
add warning if output might not be state in create_statefbk_iosystem
murrayrm Feb 4, 2023
e1e5bc9
charge 'horizon' to 'timepts' in solve_ocp
murrayrm Feb 8, 2023
867b353
allow passthru system inputs in create_statefbk_iosystem
murrayrm Feb 18, 2023
2fcc287
sampling a LinearIOSystem returns a LinearIOSystem
murrayrm Feb 26, 2023
574cf69
small tweaks to comments, docstrings, unit tests
murrayrm Mar 18, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
Prev Previous commit
Next Next commit
update integral_action docstrings (must be ndarray)
  • Loading branch information
@murrayrm
murrayrm committed Mar 18, 2023
commit 1535738c5c649f161aa4987f8a18f765745808d8
41 changes: 20 additions & 21 deletions control/statefbk.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -338,12 +338,13 @@ def lqr(*args, **kwargs):
N : 2D array, optional
Cross weight matrix
integral_action : ndarray, optional
If this keyword is specified, the controller includes integral action
in addition to state feedback. The value of the `integral_action``
keyword should be an ndarray that will be multiplied by the current to
generate the error for the internal integrator states of the control
law. The number of outputs that are to be integrated must match the
number of additional rows and columns in the ``Q`` matrix.
If this keyword is specified, the controller includes integral
action in addition to state feedback. The value of the
`integral_action`` keyword should be an ndarray that will be
multiplied by the current state to generate the error for the
internal integrator states of the control law. The number of
outputs that are to be integrated must match the number of
additional rows and columns in the ``Q`` matrix.
method : str, optional
Set the method used for computing the result. Current methods are
'slycot' and 'scipy'. If set to None (default), try 'slycot' first
Expand Down Expand Up @@ -487,12 +488,13 @@ def dlqr(*args, **kwargs):
N : 2D array, optional
Cross weight matrix
integral_action : ndarray, optional
If this keyword is specified, the controller includes integral action
in addition to state feedback. The value of the `integral_action``
keyword should be an ndarray that will be multiplied by the current to
generate the error for the internal integrator states of the control
law. The number of outputs that are to be integrated must match the
number of additional rows and columns in the ``Q`` matrix.
If this keyword is specified, the controller includes integral
action in addition to state feedback. The value of the
`integral_action`` keyword should be an ndarray that will be
multiplied by the current state to generate the error for the
internal integrator states of the control law. The number of
outputs that are to be integrated must match the number of
additional rows and columns in the ``Q`` matrix.
method : str, optional
Set the method used for computing the result. Current methods are
'slycot' and 'scipy'. If set to None (default), try 'slycot' first
Expand Down Expand Up @@ -520,6 +522,7 @@ def dlqr(*args, **kwargs):
--------
>>> K, S, E = dlqr(dsys, Q, R, [N])
>>> K, S, E = dlqr(A, B, Q, R, [N])

"""

#
Expand Down Expand Up @@ -654,16 +657,12 @@ def create_statefbk_iosystem(
ud_labels. These settings can also be overriden using the `inputs`
keyword.

integral_action : None, ndarray, or func, optional
integral_action : ndarray, optional
If this keyword is specified, the controller can include integral
action in addition to state feedback. If ``integral_action`` is a
matrix, it will be multiplied by the current and desired state to
generate the error for the internal integrator states of the control
law. If ``integral_action`` is a function ``h``, that function will
be called with the signature h(t, x, u, params) to obtain the
outputs that should be integrated. The number of outputs that are
to be integrated must match the number of additional columns in the
``K`` matrix.
action in addition to state feedback. The value of the
`integral_action`` keyword should be an ndarray that will be
multiplied by the current and desired state to generate the error
for the internal integrator states of the control law.

estimator : InputOutputSystem, optional
If an estimator is provided, use the states of the estimator as
Expand Down
2 changes: 1 addition & 1 deletion control/timeresp.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -1384,7 +1384,7 @@ def step_info(sysdata, T=None, T_num=None, yfinal=None,
Parameters
----------
sysdata : StateSpace or TransferFunction or array_like
The system data. Either LTI system to similate (StateSpace,
The system data. Either LTI system to simulate (StateSpace,
TransferFunction), or a time series of step response data.
T : array_like or float, optional
Time vector, or simulation time duration if a number (time vector is
Expand Down