def run_satellite_demo_noevents():
#Brute force could work well, but with a small step size...
system = SatelliteDemo()
#sol = lyapunov.Solver(system)
t_in = numpy.linspace(0.0, 3.0, 31)
record = lyapunov.Recorder(system)
stepper = lyapunov.runge_kutta4(system, t_in)
print "\nNo Events, No Sliding - satellite control"
print "initial state", system.state
start = time.clock()
#record = sol.simulate(t_in)
for t, events in stepper:
record.log()
print "time elapsed", time.clock() - start
plot_satellite(record)
def run_satellite_demo_events():
#With events and sliding is more accurate, and faster than brute force.
system = SatelliteDemo()
system.events = [system.s]
system.u = lambda: -1 #replaces u_naive
t_in = numpy.linspace(0.0, 3.0, 31)
record = lyapunov.Recorder(system)
stepper = lyapunov.runge_kutta4(system, t_in)
print "\nWith Events and Sliding - satellite control"
start = time.clock()
for t, events in stepper:
record.log(events)
if len(events) > 0:
if system.s in events and system.u_margin() > 0:
system.u = system.u_effective
system.events = [system.u_margin]
else:
stepper.step_through()
system.u = (lambda: 1) if system.u_effective() > 1 else (lambda: -1)
system.events = [system.s]
print "time elapsed ", time.clock() - start
plot_satellite(record)
