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Title: Update benchmarks to help with optimal control tuning by murrayrm · Pull Request #800 · python-control/python-control · GitHub

Open Graph Title: Update benchmarks to help with optimal control tuning by murrayrm · Pull Request #800 · python-control/python-control

X Title: Update benchmarks to help with optimal control tuning by murrayrm · Pull Request #800 · python-control/python-control

Description: This PR updates the benchmarks to allow for more useful characterization and tuning of the optimal module. The main change is to switch from using the kinematic car (vehicle) example as the basis for benchmarking to using a simpler linear system. The kinematic car was problematic because it is a marginally stable system and so the shooting method using for the optimal control computations was not numerically stable, causing lots of failures. Almost all of the changes here are in the benchmarks/ directory, with a few small changes in the main code to fix some small issues identified along the way. Once this PR and #799 are merged, I'll add some benchmarks comparing the shooting method to collocation.

Open Graph Description: This PR updates the benchmarks to allow for more useful characterization and tuning of the optimal module. The main change is to switch from using the kinematic car (vehicle) example as the basis ...

X Description: This PR updates the benchmarks to allow for more useful characterization and tuning of the optimal module. The main change is to switch from using the kinematic car (vehicle) example as the basis ...

Opengraph URL: https://github.com/python-control/python-control/pull/800

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e14d7b3 move optimal_bench.py to steering_bench.py + small fixes murrayrm Aug 27, 2022 https://github.com/python-control/python-control/pull/800/commits/e14d7b37ae9b3958d7adbc970f0f57fbda593d84
08f6464 improved flat system benchmarking (+ docstring, unit test updates) murrayrm Aug 27, 2022 https://github.com/python-control/python-control/pull/800/commits/08f6464d616bda5cd2e33ff85ec80c06779d60e9
efca9ca new optimal benchmarks (replace steering with rss) murrayrm Aug 28, 2022 https://github.com/python-control/python-control/pull/800/commits/efca9caffad823bf785d8b51d1d5ad300247674c
2860d89 add error for using solve_ivp for discrete time + formatting tweaks murrayrm Aug 29, 2022 https://github.com/python-control/python-control/pull/800/commits/2860d897ff49c8bd1c95ee435933f230d80d5b76
54de2a3 allow print_summary to be set in solve_ocp murrayrm Aug 30, 2022 https://github.com/python-control/python-control/pull/800/commits/54de2a3c33b8819c9d6146166d24af9ceda82a75
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