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Title: I/O system enhancements by murrayrm · Pull Request #710 · python-control/python-control · GitHub

Open Graph Title: I/O system enhancements by murrayrm · Pull Request #710 · python-control/python-control

X Title: I/O system enhancements by murrayrm · Pull Request #710 · python-control/python-control

Description: This PR adds some new functionality for I/O systems that I used in a recent course on optimization-based control that I taught at Caltech: Modify the ss(), rss(), and drss() functions to return LinearIOSystem objects (instead of StateSpace objects). This makes it easier to create LTI state space systems that can be combined with other I/O systems without having to add a conversation step. Since LinearIOSystem objects are also StateSpace objects, no functionality is lost. (This change is implemented through the introduction of a internal NamedIOSystem class, to avoid import cycles.) Added a new function create_statefbk_iosystem() that creates an I/O system for implementing a linear state feedback controller of the form u = ud - Kp(x - xd). The function returns an I/O system that takes xd, ud, and x as inputs and generates u as an output. The integral_action keyword can be used to define a set of outputs y = C x for which integral feedback is also included: u = ud - Kp(x - xd) - Ki(C x - C xd). The lqr and dlqr commands now accept an integral_action keyword that allows outputs to be specified for implementing integral action. The resulting gain matrix has the form K = [Kp, Ki]. (This is useful for combining with the integral_action functionality in create_statefbk_iosystem()).

Open Graph Description: This PR adds some new functionality for I/O systems that I used in a recent course on optimization-based control that I taught at Caltech: Modify the ss(), rss(), and drss() functions to return L...

X Description: This PR adds some new functionality for I/O systems that I used in a recent course on optimization-based control that I taught at Caltech: Modify the ss(), rss(), and drss() functions to return L...

Opengraph URL: https://github.com/python-control/python-control/pull/710

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f712096 ss, rss, drss return LinearIOSystem murrayrm Mar 13, 2022 https://github.com/python-control/python-control/pull/710/commits/f712096d4ddb9ee62788abdb0c61e7d61f3c7c93
4b0584d create _NamedIOSystem, _NamedIOStateSystem parent classes murrayrm Mar 14, 2022 https://github.com/python-control/python-control/pull/710/commits/4b0584d3474bc58023a76688d1af81de3b9e93f1
2b13747 add create_statefbk_iosystem + unit tests murrayrm Mar 15, 2022 https://github.com/python-control/python-control/pull/710/commits/2b13747f45c2bcd5109a1964b31ff3f4bc0342ef
213905c add integral_action option to lqr/dlqr murrayrm Mar 16, 2022 https://github.com/python-control/python-control/pull/710/commits/213905ca1bf134ef0147da6d5d4cb87c728e66ca
ca77cca update create_statefbk_iosys/lqr/dlqr errors + unit tests murrayrm Mar 16, 2022 https://github.com/python-control/python-control/pull/710/commits/ca77cca687af1e79bc05bf7c27d31f4f87da30a4
effd6b6 add documentation on integral action to lqr/dqlr murrayrm Mar 16, 2022 https://github.com/python-control/python-control/pull/710/commits/effd6b6b60d6ec22e20d82d9afa45b7f81803cfa
316945d use super() for LTI functions murrayrm Mar 20, 2022 https://github.com/python-control/python-control/pull/710/commits/316945dcf5a2ddf3e7243b1849997331f4aec369
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