def setUp(self):
# Initial Values
a_0 = 100
a_1 = 0.5
rho = 0.9
sigma_d = 0.05
beta = 0.95
c = 2
gamma = 50.0
theta = 0.002
ac = (a_0 - c) / 2.0
R = np.array([[0, ac, 0], [ac, -a_1, 0.5], [0., 0.5, 0]])
R = -R
Q = gamma / 2
Q_pf = 0.
A = np.array([[1., 0., 0.], [0., 1., 0.], [0., 0., rho]])
B = np.array([[0.], [1.], [0.]])
B_pf = np.zeros((3, 1))
C = np.array([[0.], [0.], [sigma_d]])
# the *_pf endings refer to an example with pure forecasting
# (see p171 in Robustness)
self.rblq_test = RBLQ(Q, R, A, B, C, beta, theta)
self.rblq_test_pf = RBLQ(Q_pf, R, A, B_pf, C, beta, theta)
self.lq_test = LQ(Q, R, A, B, C, beta)
self.methods = ['doubling', 'qz']
def setUp(self):
# Initial Values
a_0 = 100
a_1 = 0.5
rho = 0.9
sigma_d = 0.05
beta = 0.95
c = 2
gamma = 50.0
theta = 0.002
ac = (a_0 - c) / 2.0
R = np.array([[0, ac, 0],
[ac, -a_1, 0.5],
[0., 0.5, 0]])
R = -R
Q = gamma / 2
A = np.array([[1., 0., 0.],
[0., 1., 0.],
[0., 0., rho]])
B = np.array([[0.],
[1.],
[0.]])
C = np.array([[0.],
[0.],
[sigma_d]])
self.rblq_test = RBLQ(Q, R, A, B, C, beta, theta)
self.lq_test = LQ(Q, R, A, B, C, beta)
self.Fr, self.Kr, self.Pr = self.rblq_test.robust_rule()
def setUp(self):
# Initial Values
a_0 = 100
a_1 = 0.5
rho = 0.9
sigma_d = 0.05
beta = 0.95
c = 2
gamma = 50.0
theta = 0.002
ac = (a_0 - c) / 2.0
R = np.array([[0, ac, 0],
[ac, -a_1, 0.5],
[0., 0.5, 0]])
R = -R
Q = gamma / 2
Q_pf = 0.
A = np.array([[1., 0., 0.],
[0., 1., 0.],
[0., 0., rho]])
B = np.array([[0.],
[1.],
[0.]])
B_pf = np.zeros((3, 1))
C = np.array([[0.],
[0.],
[sigma_d]])
# the *_pf endings refer to an example with pure forecasting
# (see p171 in Robustness)
self.rblq_test = RBLQ(Q, R, A, B, C, beta, theta)
self.rblq_test_pf = RBLQ(Q_pf, R, A, B_pf, C, beta, theta)
self.lq_test = LQ(Q, R, A, B, C, beta)
self.Fr, self.Kr, self.Pr = self.rblq_test.robust_rule()
self.Fr_pf, self.Kr_pf, self.Pr_pf = self.rblq_test_pf.robust_rule()
class TestRBLQControl(unittest.TestCase):
def setUp(self):
# Initial Values
a_0 = 100
a_1 = 0.5
rho = 0.9
sigma_d = 0.05
beta = 0.95
c = 2
gamma = 50.0
theta = 0.002
ac = (a_0 - c) / 2.0
R = np.array([[0, ac, 0],
[ac, -a_1, 0.5],
[0., 0.5, 0]])
R = -R
Q = gamma / 2
Q_pf = 0.
A = np.array([[1., 0., 0.],
[0., 1., 0.],
[0., 0., rho]])
B = np.array([[0.],
[1.],
[0.]])
B_pf = np.zeros((3, 1))
C = np.array([[0.],
[0.],
[sigma_d]])
# the *_pf endings refer to an example with pure forecasting
# (see p171 in Robustness)
self.rblq_test = RBLQ(Q, R, A, B, C, beta, theta)
self.rblq_test_pf = RBLQ(Q_pf, R, A, B_pf, C, beta, theta)
self.lq_test = LQ(Q, R, A, B, C, beta=beta)
self.methods = ['doubling', 'qz']
def tearDown(self):
del self.rblq_test
del self.rblq_test_pf
def test_pure_forecasting(self):
self.assertTrue(self.rblq_test_pf.pure_forecasting)
def test_robust_rule_vs_simple(self):
rblq = self.rblq_test
rblq_pf = self.rblq_test_pf
for method in self.methods:
Fr, Kr, Pr = self.rblq_test.robust_rule(method=method)
Fr_pf, Kr_pf, Pr_pf = self.rblq_test_pf.robust_rule(method=method)
Fs, Ks, Ps = rblq.robust_rule_simple(P_init=Pr, tol=1e-12)
Fs_pf, Ks_pf, Ps_pf = rblq_pf.robust_rule_simple(
P_init=Pr_pf, tol=1e-12)
assert_allclose(Fr, Fs, rtol=1e-4)
assert_allclose(Kr, Ks, rtol=1e-4)
assert_allclose(Pr, Ps, rtol=1e-4)
atol = 1e-10
assert_allclose(Fr_pf, Fs_pf, rtol=1e-4)
assert_allclose(Kr_pf, Ks_pf, rtol=1e-4, atol=atol)
assert_allclose(Pr_pf, Ps_pf, rtol=1e-4, atol=atol)
def test_f2k_and_k2f(self):
rblq = self.rblq_test
for method in self.methods:
Fr, Kr, Pr = self.rblq_test.robust_rule(method=method)
K_f2k, P_f2k = rblq.F_to_K(Fr, method=method)
F_k2f, P_k2f = rblq.K_to_F(Kr, method=method)
assert_allclose(K_f2k, Kr, rtol=1e-4)
assert_allclose(F_k2f, Fr, rtol=1e-4)
assert_allclose(P_f2k, P_k2f, rtol=1e-4)
def test_evaluate_F(self):
rblq = self.rblq_test
for method in self.methods:
Fr, Kr, Pr = self.rblq_test.robust_rule(method=method)
Kf, Pf, df, Of, of = rblq.evaluate_F(Fr)
# In the future if we wanted, we could check more things, but I
# think the other pieces are basically just plugging these into
# equations so if these hold then the others should be correct
# as well.
assert_allclose(Pf, Pr)
assert_allclose(Kf, Kr)
class TestRBLQControl(unittest.TestCase):
def setUp(self):
# Initial Values
a_0 = 100
a_1 = 0.5
rho = 0.9
sigma_d = 0.05
beta = 0.95
c = 2
gamma = 50.0
theta = 0.002
ac = (a_0 - c) / 2.0
R = np.array([[0, ac, 0],
[ac, -a_1, 0.5],
[0., 0.5, 0]])
R = -R
Q = gamma / 2
Q_pf = 0.
A = np.array([[1., 0., 0.],
[0., 1., 0.],
[0., 0., rho]])
B = np.array([[0.],
[1.],
[0.]])
B_pf = np.zeros((3, 1))
C = np.array([[0.],
[0.],
[sigma_d]])
# the *_pf endings refer to an example with pure forecasting
# (see p171 in Robustness)
self.rblq_test = RBLQ(Q, R, A, B, C, beta, theta)
self.rblq_test_pf = RBLQ(Q_pf, R, A, B_pf, C, beta, theta)
self.lq_test = LQ(Q, R, A, B, C, beta)
self.Fr, self.Kr, self.Pr = self.rblq_test.robust_rule()
self.Fr_pf, self.Kr_pf, self.Pr_pf = self.rblq_test_pf.robust_rule()
def tearDown(self):
del self.rblq_test
del self.rblq_test_pf
def test_pure_forecasting(self):
self.assertTrue(self.rblq_test_pf.pure_forecasting)
def test_robust_rule_vs_simple(self):
rblq = self.rblq_test
rblq_pf = self.rblq_test_pf
Fr, Kr, Pr = self.Fr, self.Kr, self.Pr
Fr_pf, Kr_pf, Pr_pf = self.Fr_pf, self.Kr_pf, self.Pr_pf
Fs, Ks, Ps = rblq.robust_rule_simple(P_init=Pr, tol=1e-12)
Fs_pf, Ks_pf, Ps_pf = rblq_pf.robust_rule_simple(P_init=Pr_pf, tol=1e-12)
assert_allclose(Fr, Fs, rtol=1e-4)
assert_allclose(Kr, Ks, rtol=1e-4)
assert_allclose(Pr, Ps, rtol=1e-4)
atol = 1e-10
assert_allclose(Fr_pf, Fs_pf, rtol=1e-4)
assert_allclose(Kr_pf, Ks_pf, rtol=1e-4, atol=atol)
assert_allclose(Pr_pf, Ps_pf, rtol=1e-4, atol=atol)
def test_f2k_and_k2f(self):
rblq = self.rblq_test
Fr, Kr, Pr = self.Fr, self.Kr, self.Pr
K_f2k, P_f2k = rblq.F_to_K(Fr)
F_k2f, P_k2f = rblq.K_to_F(Kr)
assert_allclose(K_f2k, Kr, rtol=1e-4)
assert_allclose(F_k2f, Fr, rtol=1e-4)
assert_allclose(P_f2k, P_k2f, rtol=1e-4)
def test_evaluate_F(self):
rblq = self.rblq_test
Fr, Kr, Pr = self.Fr, self.Kr, self.Pr
Kf, Pf, df, Of, of = rblq.evaluate_F(Fr)
# In the future if we wanted, we could check more things, but I
# think the other pieces are basically just plugging these into
# equations so if these hold then the others should be correct
# as well.
assert_allclose(Pf, Pr)
assert_allclose(Kf, Kr)
class TestRBLQControl(unittest.TestCase):
def setUp(self):
# Initial Values
a_0 = 100
a_1 = 0.5
rho = 0.9
sigma_d = 0.05
beta = 0.95
c = 2
gamma = 50.0
theta = 0.002
ac = (a_0 - c) / 2.0
R = np.array([[0, ac, 0],
[ac, -a_1, 0.5],
[0., 0.5, 0]])
R = -R
Q = gamma / 2
A = np.array([[1., 0., 0.],
[0., 1., 0.],
[0., 0., rho]])
B = np.array([[0.],
[1.],
[0.]])
C = np.array([[0.],
[0.],
[sigma_d]])
self.rblq_test = RBLQ(Q, R, A, B, C, beta, theta)
self.lq_test = LQ(Q, R, A, B, C, beta)
self.Fr, self.Kr, self.Pr = self.rblq_test.robust_rule()
def tearDown(self):
del self.rblq_test
def test_robust_rule_vs_simple(self):
rblq = self.rblq_test
Fr, Kr, Pr = self.Fr, self.Kr, self.Pr
Fs, Ks, Ps = rblq.robust_rule_simple(P_init=Pr, tol=1e-12)
assert_allclose(Fr, Fs, rtol=1e-4)
assert_allclose(Kr, Ks, rtol=1e-4)
assert_allclose(Pr, Ps, rtol=1e-4)
def test_f2k_and_k2f(self):
rblq = self.rblq_test
Fr, Kr, Pr = self.Fr, self.Kr, self.Pr
K_f2k, P_f2k = rblq.F_to_K(Fr)
F_k2f, P_k2f = rblq.K_to_F(Kr)
assert_allclose(K_f2k, Kr, rtol=1e-4)
assert_allclose(F_k2f, Fr, rtol=1e-4)
assert_allclose(P_f2k, P_k2f, rtol=1e-4)
def test_evaluate_F(self):
rblq = self.rblq_test
Fr, Kr, Pr = self.Fr, self.Kr, self.Pr
Kf, Pf, df, Of, of = rblq.evaluate_F(Fr)
# In the future if we wanted, we could check more things, but I
# think the other pieces are basically just plugging these into
# equations so if these hold then the others should be correct
# as well.
assert_allclose(Pf, Pr)
assert_allclose(Kf, Kr)
