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Title: Fixes to various optimization-based control functions by murrayrm · Pull Request #709 · python-control/python-control · GitHub

Open Graph Title: Fixes to various optimization-based control functions by murrayrm · Pull Request #709 · python-control/python-control

X Title: Fixes to various optimization-based control functions by murrayrm · Pull Request #709 · python-control/python-control

Description: I recently finished teaching an optimization-based controls course and found a but of small things in the code that needing fixing/improving: Parameters were not being passed properly to differentially flat systems. Basis functions derived from BasisFamily were not calling BasisFamily.__init__. Changed constraints keyword in optimal.solve_ocp and flatsys.point_to_point to trajectory_constraints for more consistency (legacy keyword still works). Initial conditions for simulation of discrete time systems was being passed as a list instead of an ndarray, which caused some odd behavior and wasn't consistent with continuous time system usage. Added check for constraint types in optimal control problem setup (rather than when solving the optimal control problem). Fixed small inconsistency in the way discrete time was handled in setting up an I/O system for model predictive control (should be inherited from system, not passed separately). Unused keywords in OptimalControlProblem now generate an error (mentioned here). To be consistent with the normal problem formulation, the discrete time optimal cost calculation no longer includes the endpoint (use terminal_cost instead). create_mpc_iosystem now re-computes the optimal controller when returning the output, which eliminates an unintended one-step delay in the MPC dynamics. Added unit tests.

Open Graph Description: I recently finished teaching an optimization-based controls course and found a but of small things in the code that needing fixing/improving: Parameters were not being passed properly to different...

X Description: I recently finished teaching an optimization-based controls course and found a but of small things in the code that needing fixing/improving: Parameters were not being passed properly to different...

Opengraph URL: https://github.com/python-control/python-control/pull/709

X: @github

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Domain: github.com

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Fixes to various optimization-based control functions https://github.com/python-control/python-control/pull/709/files#top
Show all changes 9 commits https://github.com/python-control/python-control/pull/709/files
0060618 fix handling of endpoint in discrete optimal murrayrm Jan 25, 2022 https://github.com/python-control/python-control/pull/709/commits/00606182b5d7f540589d738ce5fcbc97cfc7a6d9
395dbbb check for unused keywords in OptimalControlProblem murrayrm Jan 25, 2022 https://github.com/python-control/python-control/pull/709/commits/395dbbba75d1e9b862a57a1d942039840a9515e0
de4c75c generate iosys warning if solve_ivp does not succeed murrayrm Jan 25, 2022 https://github.com/python-control/python-control/pull/709/commits/de4c75cdc938b65ee1af3a85051410f8643a559f
93a5fae remove one step delay in create_mpc_iosystem, discrete time only murrayrm Jan 25, 2022 https://github.com/python-control/python-control/pull/709/commits/93a5fae4aa3e000479a90be6d99e3471ca720e7f
7396f76 add params to flat systems + updated keywords murrayrm Feb 5, 2022 https://github.com/python-control/python-control/pull/709/commits/7396f76db2dd5828339e43b1f34e3eddd620aff1
994fedc fix discrete time X0, U processing murrayrm Mar 1, 2022 https://github.com/python-control/python-control/pull/709/commits/994fedc637304ca8f2379480feacc2ca483c68e6
d01a52c fix optimal unit tests (matrix case) + PEP8 murrayrm Mar 12, 2022 https://github.com/python-control/python-control/pull/709/commits/d01a52cdce111a80020e113731f2c513613569b3
be660ce default outfcn() bug fix + unit tests for flatsys murrayrm Mar 12, 2022 https://github.com/python-control/python-control/pull/709/commits/be660ceaf796f11bfb961ff494577393a8baa73c
f807b33 updated optimal constraint handling + unit tests murrayrm Mar 12, 2022 https://github.com/python-control/python-control/pull/709/commits/f807b338bc770502bf997024f1f43b6575b9241f
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https://github.com/python-control/python-control/pull/709/files#diff-12b378d96d36c9d59a9fbc5afbc7cc158d153ff7591b4769f8312772e1d74ed1
https://github.com/python-control/python-control/pull/709/files#diff-12b378d96d36c9d59a9fbc5afbc7cc158d153ff7591b4769f8312772e1d74ed1
https://github.com/python-control/python-control/pull/709/files#diff-12b378d96d36c9d59a9fbc5afbc7cc158d153ff7591b4769f8312772e1d74ed1
https://github.com/python-control/python-control/pull/709/files#diff-12b378d96d36c9d59a9fbc5afbc7cc158d153ff7591b4769f8312772e1d74ed1
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