[python-control-discuss] SF.net SVN: python-control:[80] branches/control-0.4a/src/robust.py

[<kk...@us...>]

Revision: 80
          http://python-control.svn.sourceforge.net/python-control/?rev=80&view=rev
Author:   kkchen
Date:     2011-02-08 22:16:17 +0000 (Tue, 08 Feb 2011)

Log Message:
-----------
Added robust.py for robust control tools.  Function h2syn added, based on slycot wrapper sb10hd.  No tests in place, probably buggy.

Steven Brunton <sbr...@pr...>

Added Paths:
-----------
    branches/control-0.4a/src/robust.py

Added: branches/control-0.4a/src/robust.py
===================================================================
--- branches/control-0.4a/src/robust.py	                        (rev 0)
+++ branches/control-0.4a/src/robust.py	2011-02-08 22:16:17 UTC (rev 80)
@@ -0,0 +1,99 @@
+# robust.py - tools for robust control
+#
+# Author: Steve Brunton, Kevin Chen, Lauren Padilla
+# Date: 24 Dec 2010
+# 
+# This file contains routines for obtaining reduced order models
+#
+# Copyright (c) 2010 by California Institute of Technology
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in the
+#    documentation and/or other materials provided with the distribution.
+# 
+# 3. Neither the name of the California Institute of Technology nor
+#    the names of its contributors may be used to endorse or promote
+#    products derived from this software without specific prior
+#    written permission.
+# 
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL CALTECH
+# OR THE CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+# USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+# ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+# OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+# SUCH DAMAGE.
+# 
+# $Id$
+
+# External packages and modules
+import numpy as np
+import ctrlutil
+from control.exception import *
+from statefbk import *
+from statesp import StateSpace
+
+def h2syn(P,nmeas,ncon):
+    """H_2 control synthesis for plant.
+
+    Usage
+    =====
+    K, rcond, info = h2syn(plant,nmeas,ncon)
+
+    Inputs
+    ======
+    plant : partitioned lti plant
+    nmeas : number of measurements (input to controller)
+    ncon : number of control inputs (output from controller)
+
+    Outputs
+    =======
+    K : controller to stabilize P
+    """
+
+    #Check for ss system object, need a utility for this?
+
+    #TODO: Check for continous or discrete, only continuous supported right now
+        # if isCont():
+        #    dico = 'C'
+        # elif isDisc():
+        #    dico = 'D'
+        # else:
+    dico = 'C'
+
+    #Check system is stable
+    D,V = np.linalg.eig(P.A)
+    for e in D:
+        if e.real >= 0:
+            raise ValueError, "Oops, the system is unstable!"
+   
+    try:
+        from slycot import sb10hd
+    except ImportError:
+        raise ControlSlycot("can't find slycot subroutine sb10hd")
+
+    n = np.size(P.A,0)
+    m = np.size(P.B,1)
+    np = np.size(P.C,0)
+    out = sb10hd(n,m,np,ncon,nmeas,P.A,P.B,P.C,P.D)
+    Ak = out[0]
+    Bk = out[1]
+    Ck = out[2]
+    Dk = out[3]
+   
+    K = StateSpace(Ak, Bk, Ck, Dk)
+
+    return K


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