def hinfsyn(P, nmeas, ncon):
"""H_{inf} control synthesis for plant P.
Parameters
----------
P: partitioned lti plant
nmeas: number of measurements (input to controller)
ncon: number of control inputs (output from controller)
Returns
-------
K: controller to stabilize P (State-space sys)
CL: closed loop system (State-space sys)
gam: infinity norm of closed loop system
rcond: 4-vector, reciprocal condition estimates of:
1: control transformation matrix
2: measurement transformation matrix
3: X-Ricatti equation
4: Y-Ricatti equation
TODO: document significance of rcond
Raises
------
ImportError
if slycot routine sb10ad is not loaded
See Also
--------
StateSpace
Examples
--------
>>> K, CL, gam, rcond = hinfsyn(P,nmeas,ncon)
"""
# 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'
try:
from slycot import sb10ad
except ImportError:
raise ControlSlycot("can't find slycot subroutine sb10ad")
n = np.size(P.A, 0)
m = np.size(P.B, 1)
np_ = np.size(P.C, 0)
gamma = 1.e100
out = sb10ad(n, m, np_, ncon, nmeas, gamma, P.A, P.B, P.C, P.D)
gam = out[0]
Ak = out[1]
Bk = out[2]
Ck = out[3]
Dk = out[4]
Ac = out[5]
Bc = out[6]
Cc = out[7]
Dc = out[8]
rcond = out[9]
K = StateSpace(Ak, Bk, Ck, Dk)
CL = StateSpace(Ac, Bc, Cc, Dc)
return K, CL, gam, rcond
def hinfsyn(P,nmeas,ncon):
"""H_{inf} control synthesis for plant P.
Parameters
----------
P: partitioned lti plant
nmeas: number of measurements (input to controller)
ncon: number of control inputs (output from controller)
Returns
-------
K: controller to stabilize P (State-space sys)
CL: closed loop system (State-space sys)
gam: infinity norm of closed loop system
rcond: 4-vector, reciprocal condition estimates of:
1: control transformation matrix
2: measurement transformation matrix
3: X-Ricatti equation
4: Y-Ricatti equation
TODO: document significance of rcond
Raises
------
ImportError
if slycot routine sb10ad is not loaded
See Also
--------
StateSpace
Examples
--------
>>> K, CL, gam, rcond = hinfsyn(P,nmeas,ncon)
"""
#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'
try:
from slycot import sb10ad
except ImportError:
raise ControlSlycot("can't find slycot subroutine sb10ad")
n = np.size(P.A,0)
m = np.size(P.B,1)
np_ = np.size(P.C,0)
gamma = 1.e100
out = sb10ad(n,m,np_,ncon,nmeas,gamma,P.A,P.B,P.C,P.D)
gam = out[0]
Ak = out[1]
Bk = out[2]
Ck = out[3]
Dk = out[4]
Ac = out[5]
Bc = out[6]
Cc = out[7]
Dc = out[8]
rcond = out[9]
K = StateSpace(Ak, Bk, Ck, Dk)
CL = StateSpace(Ac, Bc, Cc, Dc)
return K, CL, gam, rcond