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GeezerVison is showing github.com — Add two MRAC siso examples by KybernetikJo · Pull Request #914 · python-control/python-control

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KybernetikJo commented Jun 15, 2023

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direct mrac using mit rule
direct mrac using lyapunov rule

examples based on Aström & Wittenmark

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murrayrm commented Jun 19, 2023

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This PR will break once #916 is merged. The changes needed to use the new I/O system structure ar straightforward (eg, replace LinearIOSystem with StateSpace or better yet ss). I suggest we hold off on merging this until after #916, but running unit tests now to make sure there are no problems under various configurations.

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coveralls commented Jun 19, 2023 •

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coverage: 94.849%. remained the same when pulling f3713f1 on KybernetikJo:mrac-examples into d153035 on python-control:main.

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murrayrm requested changes

Jul 2, 2023

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This PR needs to be rebased on top of the current main branch to catch the changes in #916, which eliminates the LinearIOSystem class and adds a ct.nlsys factory function. In addition, it would be good to replace calls to the class constructors (NonlinearIOSystem, InterconnectedSystem, etc) with calls to factor functions (ct.nlsys, ct.interconnect, etc).

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doc/examples.rst Outdated

Comment on lines +36 to +37

		mrac_siso_direct_mit_rule_statespace
		mrac_siso_direct_lya_rule_statespace

murrayrm Jul 2, 2023

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Perhaps use shorter filenames? It seems like mrac_siso_mit and mrac_siso_lyapunov would fit the bill.

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doc/mrac_siso_direct_lya_rule_statespace.rst Outdated

		@@ -0,0 +1,15 @@
		Model-Reference Adaptive Control (MRAC) siso, direct lyapunov rule

murrayrm Jul 2, 2023

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I would change "siso" to "SISO" (since it is an acronym) and capitalize Lyapunov (since it is a proper name).

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examples/mrac_siso_direct_lya_rule_statespace.py Outdated

		@@ -0,0 +1,185 @@
		# mrac_siso_direct_lya_rule_statespace.py
		# June 2023

murrayrm Jul 2, 2023

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Add author information?

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examples/mrac_siso_direct_lya_rule_statespace.py Outdated

Comment on lines +24 to +32

		G_plant_ss = ct.StateSpace(A,B,C,D)

		io_plant = ct.LinearIOSystem(
		G_plant_ss,
		inputs=('u'),
		outputs=('x'),
		states=('x'),
		name='plant'
		)

murrayrm Jul 2, 2023

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This can all be done by a single call to ct.ss:

io_plant = ct.ss(A, B, C, D, inputs='u', outputs='x', states='x', name='plant')

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examples/mrac_siso_direct_lya_rule_statespace.py Outdated

Comment on lines +40 to +48

		G_model_ss = ct.StateSpace(Am,Bm,Cm,Dm)

		io_ref_model = ct.LinearIOSystem(
		G_model_ss,
		inputs=('r'),
		outputs=('xm'),
		states=('xm'),
		name='ref_model'
		)

murrayrm Jul 2, 2023

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As above, use ss instead.

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examples/mrac_siso_direct_lya_rule_statespace.py Outdated

		)

		# Overall closed loop system
		io_closed = ct.InterconnectedSystem(

murrayrm Jul 2, 2023

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Use ct.interconnect rather than calling the class constructor.

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examples/mrac_siso_direct_mit_rule_statespace.py Outdated

Comment on lines +24 to +32

		G_plant_ss = ct.StateSpace(A,B,C,D)

		io_plant = ct.LinearIOSystem(
		G_plant_ss,
		inputs=('u'),
		outputs=('x'),
		states=('x'),
		name='plant'
		)

murrayrm Jul 2, 2023

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Replace with call toct.ss.

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examples/mrac_siso_direct_mit_rule_statespace.py Outdated

Comment on lines +40 to +48

		G_model_ss = ct.StateSpace(Am,Bm,Cm,Dm)

		io_ref_model = ct.LinearIOSystem(
		G_model_ss,
		inputs=('r'),
		outputs=('xm'),
		states=('xm'),
		name='ref_model'
		)

murrayrm Jul 2, 2023

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Replace with call toct.ss.

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examples/mrac_siso_direct_mit_rule_statespace.py Outdated


		params={"gam":1, "Am":Am, "Bm":Bm, "signb":np.sign(B)}

		io_controller = ct.NonlinearIOSystem(

murrayrm Jul 2, 2023

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Replace with call toct.nlsys.

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examples/mrac_siso_direct_mit_rule_statespace.py Outdated

		)

		# Overall closed loop system
		io_closed = ct.InterconnectedSystem(

murrayrm Jul 2, 2023

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Replace with call toct.interconnect.

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KybernetikJo commented Jul 3, 2023

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Thanks for the review. I will incorporate your suggestions.

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KybernetikJo commented Jul 4, 2023

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I need help.

In fact, I'm not sure about the recent commits of this PR. I think I did something wrong. The old files have been merged back into the branch "mrac-examples" by "git rebase main".

In steps 8 of the manual, (https://github.com/python-control/python-control/wiki/How-to-contribute-with-a-pull-request)
which branch must be updated & synchronized, main or feature?

Current situation of "mrac-examples".

Files and documentation should be ok.
But many of my commits are suboptimal. They pollute the log history.

Not sure how to fix this.

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bnavigator reviewed

Jul 4, 2023

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doc/examples.rst Outdated

Comment on lines +36 to +42

		<<<<<<< HEAD
		mrac_siso_mit
		mrac_siso_lyapunov
		=======
		mrac_siso_direct_mit_rule_statespace
		mrac_siso_direct_lya_rule_statespace
		>>>>>>> refs/remotes/origin/mrac-examples

bnavigator Jul 4, 2023

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This is an artifact of a merge, which must be fixed

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bnavigator Jul 4, 2023

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Oops I was looking at an intermediate commit. Please rebase so that it does not appear in the commit history.

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bnavigator Jul 4, 2023

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In reference to your comment: Do a git rebase -i main and "squash" some commits.

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KybernetikJo Jul 5, 2023

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Thx, I will try git rebase -i main.

In steps 8 of the manual, (https://github.com/python-control/python-control/wiki/How-to-contribute-with-a-pull-request)
which branch must be updated & synchronized, main or feature?

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bnavigator Jul 5, 2023

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Both. First get your local main branch in sync with upstream and then rebase feature onto your synced local main

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          Add direct mrac siso examples, using new input/output system (ss, nls…

f3713f1

…ys, interconnect)

KybernetikJo force-pushed the mrac-examples branch from 0c04a2c to f3713f1 Compare

July 5, 2023 18:27

KybernetikJo requested a review from murrayrm

July 5, 2023 18:59

murrayrm merged commit a8658e4 into python-control:main

Jul 7, 2023

murrayrm added this to the 0.10.0 milestone

Mar 31, 2024

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KybernetikJo commented Jun 15, 2023

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murrayrm commented Jun 19, 2023

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coveralls commented Jun 19, 2023 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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KybernetikJo commented Jul 3, 2023

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coveralls commented Jun 19, 2023 •

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