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#! TODO: add module docstring
# modelsimp.py - tools for model simplification
#
# Author: Steve Brunton, Kevin Chen, Lauren Padilla
# Date: 30 Nov 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.
#
# $Id$
# Python 3 compatibility
from __future__ import print_function
# External packages and modules
import numpy as np
from .exception import ControlSlycot
from .lti import isdtime, isctime
from .statesp import StateSpace
from .statefbk import gram
__all__ = ['hsvd', 'balred', 'modred', 'era', 'markov', 'minreal']
# Hankel Singular Value Decomposition
# The following returns the Hankel singular values, which are singular values
#of the matrix formed by multiplying the controllability and observability
#grammians
def hsvd(sys):
"""Calculate the Hankel singular values.
Parameters
----------
sys : StateSpace
A state space system
Returns
-------
H : Matrix
A list of Hankel singular values
See Also
--------
gram
Notes
-----
The Hankel singular values are the singular values of the Hankel operator.
In practice, we compute the square root of the eigenvalues of the matrix
formed by taking the product of the observability and controllability
gramians. There are other (more efficient) methods based on solving the
Lyapunov equation in a particular way (more details soon).
Examples
--------
>>> H = hsvd(sys)
"""
# TODO: implement for discrete time systems
if (isdtime(sys, strict=True)):
raise NotImplementedError("Function not implemented in discrete time")
Wc = gram(sys,'c')
Wo = gram(sys,'o')
WoWc = np.dot(Wo, Wc)
w, v = np.linalg.eig(WoWc)
hsv = np.sqrt(w)
hsv = np.matrix(hsv)
hsv = np.sort(hsv)
hsv = np.fliplr(hsv)
# Return the Hankel singular values
return hsv
def modred(sys, ELIM, method='matchdc'):
"""
Model reduction of `sys` by eliminating the states in `ELIM` using a given
method.
Parameters
----------
sys: StateSpace
Original system to reduce
ELIM: array
Vector of states to eliminate
method: string
Method of removing states in `ELIM`: either ``'truncate'`` or
``'matchdc'``.
Returns
-------
rsys: StateSpace
A reduced order model
Raises
------
ValueError
* if `method` is not either ``'matchdc'`` or ``'truncate'``
* if eigenvalues of `sys.A` are not all in left half plane
(`sys` must be stable)
Examples
--------
>>> rsys = modred(sys, ELIM, method='truncate')
"""
#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:
if (isctime(sys)):
dico = 'C'
else:
raise NotImplementedError("Function not implemented in discrete time")
#Check system is stable
if np.any(np.linalg.eigvals(sys.A).real >= 0.0):
raise ValueError("Oops, the system is unstable!")
ELIM = np.sort(ELIM)
# Create list of elements not to eliminate (NELIM)
NELIM = [i for i in range(len(sys.A)) if i not in ELIM]
# A1 is a matrix of all columns of sys.A not to eliminate
A1 = sys.A[:,NELIM[0]]
for i in NELIM[1:]:
A1 = np.hstack((A1, sys.A[:,i]))
A11 = A1[NELIM,:]
A21 = A1[ELIM,:]
# A2 is a matrix of all columns of sys.A to eliminate
A2 = sys.A[:,ELIM[0]]
for i in ELIM[1:]:
A2 = np.hstack((A2, sys.A[:,i]))
A12 = A2[NELIM,:]
A22 = A2[ELIM,:]
C1 = sys.C[:,NELIM]
C2 = sys.C[:,ELIM]
B1 = sys.B[NELIM,:]
B2 = sys.B[ELIM,:]
if method=='matchdc':
# if matchdc, residualize
# Check if the matrix A22 is invertible
if np.linalg.matrix_rank(A22) != len(ELIM):
raise ValueError("Matrix A22 is singular to working precision.")
# Now precompute A22\A21 and A22\B2 (A22I = inv(A22))
# We can solve two linear systems in one pass, since the
# coefficients matrix A22 is the same. Thus, we perform the LU
# decomposition (cubic runtime complexity) of A22 only once!
# The remaining back substitutions are only quadratic in runtime.
A22I_A21_B2 = np.linalg.solve(A22, np.concatenate((A21, B2), axis=1))
A22I_A21 = A22I_A21_B2[:, :A21.shape[1]]
A22I_B2 = A22I_A21_B2[:, A21.shape[1]:]
Ar = A11 - A12*A22I_A21
Br = B1 - A12*A22I_B2
Cr = C1 - C2*A22I_A21
Dr = sys.D - C2*A22I_B2
elif method=='truncate':
# if truncate, simply discard state x2
Ar = A11
Br = B1
Cr = C1
Dr = sys.D
else:
raise ValueError("Oops, method is not supported!")
rsys = StateSpace(Ar,Br,Cr,Dr)
return rsys
def balred(sys, orders, method='truncate'):
"""
Balanced reduced order model of sys of a given order.
States are eliminated based on Hankel singular value.
Parameters
----------
sys: StateSpace
Original system to reduce
orders: integer or array of integer
Desired order of reduced order model (if a vector, returns a vector
of systems)
method: string
Method of removing states, either ``'truncate'`` or ``'matchdc'``.
Returns
-------
rsys: StateSpace
A reduced order model
Raises
------
ValueError
* if `method` is not ``'truncate'``
* if eigenvalues of `sys.A` are not all in left half plane
(`sys` must be stable)
ImportError
if slycot routine ab09ad is not found
Examples
--------
>>> rsys = balred(sys, order, method='truncate')
"""
#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
if np.any(np.linalg.eigvals(sys.A).real >= 0.0):
raise ValueError("Oops, the system is unstable!")
if method=='matchdc':
raise ValueError ("MatchDC not yet supported!")
elif method=='truncate':
try:
from slycot import ab09ad
except ImportError:
raise ControlSlycot("can't find slycot subroutine ab09ad")
job = 'B' # balanced (B) or not (N)
equil = 'N' # scale (S) or not (N)
n = np.size(sys.A,0)
m = np.size(sys.B,1)
p = np.size(sys.C,0)
Nr, Ar, Br, Cr, hsv = ab09ad(dico,job,equil,n,m,p,sys.A,sys.B,sys.C,nr=orders,tol=0.0)
rsys = StateSpace(Ar, Br, Cr, sys.D)
else:
raise ValueError("Oops, method is not supported!")
return rsys
def minreal(sys, tol=None, verbose=True):
'''
Eliminates uncontrollable or unobservable states in state-space
models or cancelling pole-zero pairs in transfer functions. The
output sysr has minimal order and the same response
characteristics as the original model sys.
Parameters
----------
sys: StateSpace or TransferFunction
Original system
tol: real
Tolerance
verbose: bool
Print results if True
Returns
-------
rsys: StateSpace or TransferFunction
Cleaned model
'''
sysr = sys.minreal(tol)
if verbose:
print("{nstates} states have been removed from the model".format(
nstates=len(sys.pole()) - len(sysr.pole())))
return sysr
def era(YY, m, n, nin, nout, r):
"""
Calculate an ERA model of order `r` based on the impulse-response data `YY`.
.. note:: This function is not implemented yet.
Parameters
----------
YY: array
`nout` x `nin` dimensional impulse-response data
m: integer
Number of rows in Hankel matrix
n: integer
Number of columns in Hankel matrix
nin: integer
Number of input variables
nout: integer
Number of output variables
r: integer
Order of model
Returns
-------
sys: StateSpace
A reduced order model sys=ss(Ar,Br,Cr,Dr)
Examples
--------
>>> rsys = era(YY, m, n, nin, nout, r)
"""
raise NotImplementedError('This function is not implemented yet.')
def markov(Y, U, M):
"""
Calculate the first `M` Markov parameters [D CB CAB ...]
from input `U`, output `Y`.
Parameters
----------
Y: array_like
Output data
U: array_like
Input data
M: integer
Number of Markov parameters to output
Returns
-------
H: matrix
First M Markov parameters
Notes
-----
Currently only works for SISO
Examples
--------
>>> H = markov(Y, U, M)
"""
# Convert input parameters to matrices (if they aren't already)
Ymat = np.mat(Y)
Umat = np.mat(U)
n = np.size(U)
# Construct a matrix of control inputs to invert
UU = Umat
for i in range(1, M-1):
newCol = np.vstack((0, UU[0:n-1,i-2]))
UU = np.hstack((UU, newCol))
Ulast = np.vstack((0, UU[0:n-1,M-2]))
for i in range(n-1,0,-1):
Ulast[i] = np.sum(Ulast[0:i-1])
UU = np.hstack((UU, Ulast))
# Invert and solve for Markov parameters
H = np.linalg.lstsq(UU, Y)[0]
return H