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Title: Add gain scheduling to create_statefbk_iosystem() by murrayrm · Pull Request #827 · python-control/python-control · GitHub

Open Graph Title: Add gain scheduling to create_statefbk_iosystem() by murrayrm · Pull Request #827 · python-control/python-control

X Title: Add gain scheduling to create_statefbk_iosystem() by murrayrm · Pull Request #827 · python-control/python-control

Description: This PR adds functionality to the create_statefbk_iosystem function, allowing it to be used to set up a simple gain scheduled controller. From the documentation: Gain scheduling on the desired state, desired input, or system state can be implemented by setting the gain to a 2-tuple consisting of a list of gains and a list of points at which the gains were computed, as well as a description of the scheduling variables ctrl, clsys = ct.create_statefbk_iosystem( sys, ([g1, ..., gN], [p1, ..., pN]), gainsched_indices=[s1, ..., sq]) The list of indices can either be integers indicating the offset into the controller input vector or a list of strings matching the names of the input signals. Example: # Create a simple nonlinear system to check (kinematic car) def unicycle_update(t, x, u, params): return np.array([np.cos(x[2]) * u[0], np.sin(x[2]) * u[0], u[1]]) def unicycle_output(t, x, u, params): return x unicycle = ct.NonlinearIOSystem( unicycle_update, unicycle_output, inputs = ['v', 'phi'], outputs = ['x', 'y', 'theta'], states = ['x_', 'y_', 'theta_']) # Speeds and angles at which to compute the gains speeds = [1, 5, 10] angles = np.linspace(0, pi/2, 4) points = list(itertools.product(speeds, angles)) # Gains for each speed (using LQR controller) Q = np.identity(unicycle.nstates) R = np.identity(unicycle.ninputs) gains = [np.array(ct.lqr(unicycle.linearize( [0, 0, angle], [speed, 0]), Q, R)[0]) for speed, angle in points] # # Schedule on desired speed and angle # # Create gain scheduled controller ctrl, clsys = ct.create_statefbk_iosystem( unicycle, (gains, points), gainsched_indices=['vd', 'theta']) Includes unit tests and documentation.

Open Graph Description: This PR adds functionality to the create_statefbk_iosystem function, allowing it to be used to set up a simple gain scheduled controller. From the documentation: Gain scheduling on the desired st...

X Description: This PR adds functionality to the create_statefbk_iosystem function, allowing it to be used to set up a simple gain scheduled controller. From the documentation: Gain scheduling on the desired st...

Opengraph URL: https://github.com/python-control/python-control/pull/827

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