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@@ Coverage Diff @@
## dev #487 +/- ##
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olof3
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Will be a nice addition to have Tustin transformations.
src/discrete.jl
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| elseif method === :tustin | ||
| a > 0 || throw(DomainError("A positive a must be provided for method Tustin")) | ||
| AI = (I(nx)-a*A) | ||
| Ad = AI\(I(nx)+a*A) | ||
| Bd = 2a*(AI\B) | ||
| # Cd = C/AI | ||
| Cd = C/AI | ||
| Dd = a*Cd*B + D | ||
| x0map = I(nx) |
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Would be good with a reference.
What is a (not clear from the docs)? I guess one would like to specify a prewarp frequency (rather than its inverse?)? Perhaps ω_prewarp, prewarp_freq, or possibly α?
Should an error be thrown if the user tries to specify a prewarp frequency for other methods than :tustin.
- Update docstring.
- Remove comment left in code.
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added f_prewarp and documented what it does. The behaviour of f_prewarp is the same as frequency prewarping in matlab.
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Ah, f_prewarp is nice, but then I would assume it to be in Hz = 1/s and not rad/s.
(regardless of what is written in the docstring).
I think it would be alright to add 2\pi in the code or using ω_prewarp (although I agree that unicode is not ideal for for kwargs)
Personally, I don't mind Hz, but I guess people are more used to rad/s
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matlab calls the argument PrewarpFrequency and treats it as rad/s so I figured this was consistent with that. All other functions in the toolbox that accepts frequencies does so in rad/s so it would be strange to deviate from it here. For a user to figure out what keyword to use for prewarping, they would have to read the docstring anyway.
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Personally, I wouldn't continue reading the docstring after finding f_prewarp in the function signature :)
Come to think of it, why not w_prewarp, if we are to avoid unicode. Anything other than f would be a real foot saver.
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Hmm, I can't see how f = frequency = Hz, but if it is a big problem we can rename it. w_prewarp is not really short for anything though, so it relies on the reader making the connection w = ω = natural frequency
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Much appreciated. When I google frequency the first thing I get is a panel with f = 1 / T (i.e., Hz) :)
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I've changed it to w_prewarp. A large number of docstrings in the package talks about frequencies, implying frequencies in rad/s though, including freqresp, bode, nyquist, sigma.
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Yes, there is definitely some abuse of terminology. As long as w/\omega is in rad/s and f is in Hz, then I'm quite happy, but perhaps we should be more careful with this.
* Avoid unnecessarily large realization for feedback of TransferFunction (#485) * Avoid unnecessarily large realization for feedback of TransferFunction * Fix and added more tests. * Change to numpoly, denpoly * add dev brach to PR CI * Switch u layout (#480) * switch u layout for lsim * Update src/timeresp.jl Co-authored-by: Fredrik Bagge Carlson <baggepinnen@gmail.com> * More updates, one error in test_timeresp * Fix tests * Change to AbstractVecOrMat * Catch CuArray in matrix conversion * General zero vectors for x0 to support GPUs * Update src/timeresp.jl Co-authored-by: Mattias Fält <mfalt@users.noreply.github.com> * Update src/timeresp.jl Co-authored-by: Mattias Fält <mfalt@users.noreply.github.com> * Move f outside lsim * Remove GPU compatible x0, save for later * Fix doctest * add kwargs * Remove variable and generalize type Co-authored-by: Fredrik Bagge Carlson <baggepinnen@gmail.com> Co-authored-by: Mattias Fält <mfalt@users.noreply.github.com> * Gangof4 fixes (#486) * QOL improvements for plotting * remove spurious getindex * update docstring * multiple Ms in nyquist * bugfixes * make rings appear in all subplots * Minor fixes to gang-of-four functionality. * Fixes to Nyquist plots. * Updated the nyquistplot docstring Co-authored-by: Fredrik Bagge Carlson <baggepinnen@gmail.com> * add frequency in Hz to dampreport (#488) * updates to nyquistplot (#493) * updates to nyquistplot * Update src/plotting.jl Co-authored-by: olof3 <olof3@users.noreply.github.com> * Update src/plotting.jl Co-authored-by: olof3 <olof3@users.noreply.github.com> Co-authored-by: olof3 <olof3@users.noreply.github.com> * fix traces in rlocus (#491) * fix traces in rlocus * Update src/pid_design.jl Co-authored-by: Albin Heimerson <albin.heimerson@control.lth.se> Co-authored-by: Albin Heimerson <albin.heimerson@control.lth.se> * let lsim handle arguments in lsimplot (#492) * bugfix: avoid creating continuous system with Ts=0.0 (#496) * Deactivate _preprocess_for_freqresp (#497) until hessenberg is properly used * allow balance when converting tf to ss (#495) * allow balance when converting tf to ss * use zeros(T) instead of fill(zero(T)) * Update src/types/StateSpace.jl Co-authored-by: olof3 <olof3@users.noreply.github.com> * Update src/types/conversion.jl Co-authored-by: Albin Heimerson <albin.heimerson@control.lth.se> Co-authored-by: olof3 <olof3@users.noreply.github.com> Co-authored-by: Albin Heimerson <albin.heimerson@control.lth.se> * Better handling of problematic cases for delay systems (#482) * delay error should be correct now * warn limit * Add tustin c2d/d2c method (#487) * add Tustin discretization * no indexing after c2d * implement f_prewarp in tustin and test vs. matlab * fixe use wrong Ts * f_prewarp -> w_prewarp * w_prewarp in tests * correct handling of x0 in lsimplot (#498) * move eye def to framework.jl (#499) * Fix UndefVarError: T not defined (#501) * add axes for ss (#504) * pi place and tests (#502) * pi place and tests * Fix test * Add ending space in file * Update numvec denvec * Fixed error * Update test/test_pid_design.jl Co-authored-by: olof3 <olof3@users.noreply.github.com> * Update test/test_pid_design.jl Co-authored-by: olof3 <olof3@users.noreply.github.com> * Update forms * Fix test * Fix test * Update src/pid_design.jl Co-authored-by: olof3 <olof3@users.noreply.github.com> * Update src/pid_design.jl Co-authored-by: olof3 <olof3@users.noreply.github.com> * Update src/pid_design.jl Co-authored-by: olof3 <olof3@users.noreply.github.com> Co-authored-by: olof3 <olof3@users.noreply.github.com> * Conver to tf in placepi (#507) * Use nstates instead of nx in lsimplot (#508) * Use nstates instead of nx in lsimplot * Add predictor (#511) * up innovation_form and add noise_model * keep innovation_form, add predictor * export predictor * add hats * updates to `obsv` (#517) * updates to `obsv` All computing an arbitrary number of rows in the observability matrix and accept `AbstractStateSpace` * Update src/matrix_comps.jl Co-authored-by: olof3 <olof3@users.noreply.github.com> Co-authored-by: olof3 <olof3@users.noreply.github.com> * `hz` keyword in `nyquistplot` similar to in `bodeplot` (#518) * Fixes to place (#500) * Add tests for place. * Removed luenberger and exented place instead. Co-authored-by: Fredrik Bagge Carlson <baggepinnen@gmail.com> * allow AbstractStateSpace in several places (#520) * allow AbstractStateSpace in several places * Maintain type for zpk in c2d (#522) * maintain zpk type in c2d * Fix type in typeconversion for c2d tf * Fix type in c2d tf/zpk * Remove assertion on tf/zpk SISO for c2d * Test for c2d(zpk(..)..) unbroken * Keep MIMO assertion c2d tf * Add comment and fix test * Fix test * h to Ts * Fix test * remove assert * split into methods * Remove asserts (#523) * Replace asserts * add error types * fix conversion for custom types (#514) * fix conversion for custom types * special numeric_type for AbstractSS * fix conversion from ss to tf without type * more abstract statespaces (#521) * omre abstract statespaces * even more ASS * remove simple feedback in favor of mor egeneral version * propagate timeevol * add block diagram to feedback docstring * Updates to docstring * fix docstring formatting * delete redundancy in feedback docstring Co-authored-by: olof3 <olof3@users.noreply.github.com> * add controller function (#512) * add controller function * rename controller and predictor * Move plot globals to runtests (#531) * Move plot globals to runtests * Move plot globals to framework.jl * return similarity transform from `balreal` (#530) * display error when covar fails * return similarity transform from balreal * Update src/matrix_comps.jl Co-authored-by: olof3 <olof3@users.noreply.github.com> Co-authored-by: olof3 <olof3@users.noreply.github.com> * remove incorrect warning in pzmap (#535) * support hz keyword in sigmaplot similar to bodeplot (#537) * change formatting in dampreport (#536) * change formatting in dampreport * update dampreport to use ± * even better formatting * up formatting for complex systems * add additive identity element for statespace and TF (#538) * add additive identity element for statespace and TF * rm zero from type. Test MIMO zero * Fix struct_ctrb_obsv (#540) * Fix struct_ctrb_obsv, closes #409 * Update src/simplification.jl Co-authored-by: Fredrik Bagge Carlson <baggepinnen@gmail.com> * add to docstring Co-authored-by: olof3 <olof3@users.noreply.github.com> * Yet another fix for struct_ctrb_states. Closes #475 (#541) * bugfix for negative real pole in damp (#539) * Fix #546 * minor typographic changes * optional epsilon in dcgain (#548) * optional epsilon in dcgain * Update analysis.jl * bugfix: use correct type for saving dde solutions (#549) Would be good to have a regression test for `BigFloat` data which was the reason I found this bug. That seems slightly involved to fix though. I assume that this would also have failed for `ComplexF64`, so eventually a test for that too would be good. * bugfix dcgain (#551) * correct type of initial state in step (#553) * remove version checks * Fix spacing in type printing * write `struct_ctrb_states` in terms of `iszero` instead of `== 0` (#557) * write `struct_ctrb_states` in terms of `iszero` instead of `== 0` The reason is that `iszero` always returns a bool, whereas `== 0` may return anything. The difference appears for symbolic variables where ```julia julia> q0 == 0 q0(t) == 0 julia> iszero(q0) false ``` * Update simplification.jl * remove `issmooth` (#561) * remove issmooth * drop extra `]` * Return a result structure from lsim (#529) * Return a result structure from lsim This is by design a non-breaking change to the lsim interface since the structure allows both getindex and destructuring to behave just like if lsim returned a tuple of arrays like before. Indeed, the tests for lsim were not touched in this commit. This commit also adds a plot recipe to the result structure. All plot recipes for lsimplot, stepplot, impulseplot have been replaced by the new recipe. This is a breaking change since the names of the previous plots no longer exist. A slight change is that the plots for a step response no longer show the text "step response", but I think that's an acceptable change, the user can supply any title they prefer themselves. * remove automatic title * introduce additional abstract result type * do not destructure sys * remove LQG (#564) The functionality was very buggy and poorly tested. A much improved version with proper tests are available in https://github.com/JuliaControl/RobustAndOptimalControl.jl/blob/master/src/lqg.jl * pole->poles tzero->tzeros (#562) * update usage of plot for step simulation * add doctest filters * add release notes * Update README.md * Update README.md Co-authored-by: olof3 <olof3@users.noreply.github.com> Co-authored-by: Albin Heimerson <albin.heimerson@control.lth.se> Co-authored-by: Mattias Fält <mfalt@users.noreply.github.com>
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