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Multivariable interconnect functionality #881

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Merged
murrayrm merged 10 commits into from
Jun 10, 2023
Merged

Multivariable interconnect functionality #881

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c307f5b
initial implentation of multivariable interconnect()
murrayrm Mar 31, 2023
40e6021
add ability to use signal base names in interconnect()
murrayrm Apr 1, 2023
8ad1e74
add/move interconnect unit tests(); clean up list/tuple; small fixes
murrayrm Apr 1, 2023
ff96564
fix up examples and document list vs tuple more carefully
murrayrm Apr 1, 2023
b40e12c
add prefix processing, find_{inputs,outputs,states}, debugging output
murrayrm Apr 2, 2023
4d9ea51
allow {input,output}_prefix in interconnect() + documentation updates
murrayrm Apr 2, 2023
ca5e3ea
xfail for MIMO w/out slycot
murrayrm Apr 2, 2023
eafec5b
Fix signal/system naming in indexed systems
murrayrm Apr 21, 2023
b8ba051
fix MIMO interconnect test case after rebase
murrayrm Jun 3, 2023
55e2b55
don't allow . in signal/system names (state names are OK)
murrayrm Jun 4, 2023
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fix MIMO interconnect test case after rebase
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@murrayrm
murrayrm committed Jun 7, 2023
commit b8ba051bfc51456cfb75c2cc26074732f7dcf885
18 changes: 4 additions & 14 deletions control/tests/interconnect_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -81,8 +81,9 @@ def test_interconnect_implicit(dim):
outputs=[f'u[{i}]' for i in range(dim)])

# same but static C2
C2 = ct.tf(random.uniform(1, 10), 1,
inputs='e', outputs='u', name='C2')
C2 = ct.tf2io(kp * random.uniform(1, 10), name='C2',
inputs=[f'e[{i}]' for i in range(dim)],
outputs=[f'u[{i}]' for i in range(dim)])

# Block diagram computation
Tss = ct.feedback(P * C, np.eye(dim))
Expand Down Expand Up @@ -113,7 +114,7 @@ def test_interconnect_implicit(dim):

# test whether signal names work for static system C2
Tio_sum2 = ct.interconnect(
[C2, P, sumblk], inputs='r', outputs='y')
[C2, P, sumblk], inplist='r', outlist='y')

np.testing.assert_almost_equal(Tio_sum2.A, Tss2.A)
np.testing.assert_almost_equal(Tio_sum2.B, Tss2.B)
Expand All @@ -139,17 +140,6 @@ def test_interconnect_implicit(dim):
np.testing.assert_almost_equal(Tio_sum.C, Tss.C)
np.testing.assert_almost_equal(Tio_sum.D, Tss.D)

# TODO: interconnect a MIMO system using implicit connections
# P = control.ss2io(
# control.rss(2, 2, 2, strictly_proper=True),
# input_prefix='u', output_prefix='y', name='P')
# C = control.ss2io(
# control.rss(2, 2, 2),
# input_prefix='e', output_prefix='u', name='C')
# sumblk = control.summing_junction(
# inputs=['r', '-y'], output='e', dimension=2)
# S = control.interconnect([P, C, sumblk], inplist='r', outlist='y')

# Make sure that repeated inplist/outlist names work
pi_io = ct.interconnect(
[kp_io, ki_io], inplist=['e'], outlist=['u'])
Expand Down