alchemyst/Skogestad-Python

{
  "cells": [
    {
      "cell_type": "code",
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      "source": [
        "from __future__ import print_function\n",
        "import numpy as np\n",
        "\n",
        "from robustcontrol.utils import pole_zero_directions, BoundST, tf, mimotf, RHPonly\n",
        "from robustcontrol.reporting import display_export_data\n",
        "\n",
        "s = tf([1, 0])\n",
        "\n",
        "p = 3\n",
        "z = 2\n",
        "d = 30. / 180. * np.pi\n",
        "g1 = mimotf([[1 / (s - p), 0],\n",
        "             [0, 1 / (s + 3)]])\n",
        "g2 = mimotf([[np.cos(d), -np.sin(d)],\n",
        "             [np.sin(d), np.cos(d)]])\n",
        "g3 = mimotf([[(s - z) / (0.1 * s + 1), 0],\n",
        "             [0, (s + 2) / (0.1 * s + 1)]])\n",
        "G = g1 * g2 * g3\n",
        "\n",
        "p = G.poles()\n",
        "z = G.zeros()\n",
        "print('All Poles: {0}'.format(p))\n",
        "print('All Zeros: {0}\\n'.format(z))\n",
        "\n",
        "RHPzeros = RHPonly(z)\n",
        "RHPpoles = RHPonly(p)\n",
        "print(\"RHP poles only: \", RHPpoles)\n",
        "print(\"RHP zeros only: \", RHPzeros)\n",
        "\n",
        "# selected p & z\n",
        "p = [3.]\n",
        "z = [2.]\n",
        "\n",
        "pdata = pole_zero_directions(G, p, 'p')\n",
        "zdata = pole_zero_directions(G, z, 'z')\n",
        "rowhead = ['u','y','e ']\n",
        "display_export_data(pdata, 'Poles', rowhead)\n",
        "display_export_data(zdata, 'Zeros', rowhead)\n",
        "\n",
        "zdata,_ = pole_zero_directions(G, z, 'z', 'y')\n",
        "print('M_S,min = M_T,min = {:.2f}'.format(BoundST(G, p, z)))\n",
        "\n",
        "# TODO fix BoundST with deadtime\n",
        "print('\\nPeak example for deadtime:')\n",
        "deadtime = np.matrix([[-1, 0],\n",
        "                      [-2., -3]])\n",
        "     \n",
        "print('M_T,min = {:.2f}'.format(BoundST(G, p, z, deadtime)))\n"
      ],
      "outputs": [],
      "execution_count": null
    }
  ],
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