def test_initialization(chain_of_integrators):
digitalControl = DigitalControl(Ts, M)
eta2 = 1.0
K1 = 100
K2 = 0
DigitalEstimator(chain_of_integrators['system'], digitalControl, eta2, K1,
K2)
def test_batch_iterations():
digitalControl = DigitalControl(Ts, M)
eta2 = 100.0
K1 = 25
K2 = 1000
analogSystem = AnalogSystem(A, B, CT, Gamma, Gamma_tildeT)
estimator = DigitalEstimator(analogSystem,
digitalControl,
eta2,
K1,
K2=K2,
stop_after_number_of_iterations=200)
estimator(controlSequence())
for est in estimator:
print(np.array(est))
def test_estimation_with_circuit_simulator():
eta2 = 1e12
K1 = 1000
K2 = 0
analogSystem = AnalogSystem(A, B, CT, Gamma, Gamma_tildeT)
# analogSignals = [Sinusoidal(0.5, 10)]
analogSignals = [ConstantSignal(0.25)]
digitalControl = DigitalControl(Ts, M)
circuitSimulator = StateSpaceSimulator(analogSystem,
digitalControl,
analogSignals,
t_stop=Ts * 1000)
estimator = DigitalEstimator(analogSystem, digitalControl, eta2, K1, K2)
estimator(circuitSimulator)
for est in estimator:
print(est)
# analog system with a large analog state order or equivalently for large
# number of independent digital controls.
# Set the bandwidth of the estimator
G_at_omega = np.linalg.norm(
analog_system.transfer_function_matrix(np.array([omega_3dB])))
eta2 = G_at_omega**2
print(f"eta2 = {eta2}, {10 * np.log10(eta2)} [dB]")
# Set the batch size
K1 = 1 << 14
K2 = 1 << 14
# Instantiate the digital estimator (this is where the filter coefficients are
# computed).
digital_estimator_batch = DigitalEstimator(
analog_system, digital_control1, eta2, K1, K2)
digital_estimator_batch(simulator1)
print(digital_estimator_batch, "\n")
###############################################################################
# Visualize Estimator's Transfer Function (Same for Both)
# -------------------------------------------------------
#
# Logspace frequencies
frequencies = np.logspace(-3, 0, 100)
omega = 4 * np.pi * beta * frequencies
# Compute NTF
def setup():
DigitalEstimator(
analogSystem, digitalControl, eta2, K1, K2)
def test_benchmark_digital_estimator_algorithm(benchmark):
est = DigitalEstimator(
analogSystem, digitalControl, eta2, K1, K2)
est(controlSequence())
result = benchmark(iterate_through, est)
assert(result == size)
def test_estimation_with_circuit_simulator():
eta2 = 1e12
K1 = 1 << 10
K2 = 1 << 10
size = K2 << 2
window = 1000
size_2 = size // 2
window_2 = window // 2
left_w = size_2 - window_2
right_w = size_2 + window_2
analogSystem = AnalogSystem(A, B, CT, Gamma, Gamma_tildeT)
analogSignals = [Sinusodial(amplitude, frequency, phase)]
digitalControl1 = DigitalControl(Ts, M)
digitalControl2 = DigitalControl(Ts, M)
digitalControl3 = DigitalControl(Ts, M)
digitalControl4 = DigitalControl(Ts, M)
tf_abs = np.abs(
analogSystem.transfer_function_matrix(np.array([2 * np.pi * frequency
])))
print(tf_abs, tf_abs.shape)
simulator1 = StateSpaceSimulator(analogSystem, digitalControl1,
analogSignals)
simulator2 = StateSpaceSimulator(analogSystem, digitalControl2,
analogSignals)
simulator3 = StateSpaceSimulator(analogSystem, digitalControl3,
analogSignals)
simulator4 = StateSpaceSimulator(analogSystem, digitalControl4,
analogSignals)
estimator1 = DigitalEstimator(analogSystem, digitalControl1, eta2, K1, K2)
estimator2 = ParallelEstimator(analogSystem, digitalControl2, eta2, K1, K2)
estimator3 = FIRFilter(analogSystem, digitalControl3, eta2, K1, K2)
estimator4 = IIRFilter(analogSystem, digitalControl4, eta2, K2)
estimator1(simulator1)
estimator2(simulator2)
estimator3(simulator3)
estimator4(simulator4)
tf_1 = estimator1.signal_transfer_function(
np.array([2 * np.pi * frequency]))[0]
e1_array = np.zeros(size)
e2_array = np.zeros(size)
e3_array = np.zeros(size)
e4_array = np.zeros(size)
e1_error = 0
e2_error = 0
e3_error = 0
e4_error = 0
for index in range(size):
e1 = estimator1.__next__()
e2 = estimator2.__next__()
e3 = estimator3.__next__()
e4 = estimator4.__next__()
e1_array[index] = e1
e2_array[index] = e2
e3_array[index] = e3
e4_array[index] = e4
t = index * Ts
u = analogSignals[0].evaluate(t)
u_lag = analogSignals[0].evaluate(t - estimator4.filter_lag() * Ts)
if (index > left_w and index < right_w):
print(
f"Time: {t: 0.2f}, Input Signal: {u * tf_1}, e1: {e1}, e2: {e2}, e3: {e3}, e4: {e4}"
)
e1_error += np.abs(e1 - u * tf_1)**2
e2_error += np.abs(e2 - u * tf_1)**2
e3_error += np.abs(e3 - u_lag * tf_1)**2
e4_error += np.abs(e4 - u_lag * tf_1)**2
e1_error /= window
e2_error /= window
e3_error /= window
e4_error /= window
print(f"""Digital estimator error: {e1_error}, {10 *
np.log10(e1_error)} dB""")
print(f"""Parallel estimator error: {e2_error}, {10 *
np.log10(e2_error)} dB""")
print(f"""FIR filter estimator error: {e3_error}, {10 *
np.log10(e3_error)} dB""")
print(f"""IIR filter estimator error: {e4_error}, {10 *
np.log10(e4_error)} dB""")
assert (np.allclose(e1_error, 0, rtol=1e-6, atol=1e-6))
assert (np.allclose(e2_error, 0, rtol=1e-6, atol=1e-6))
assert (np.allclose(e3_error, 0, rtol=1e-6, atol=1e-6))
assert (np.allclose(e4_error, 0, rtol=1e-6, atol=1e-6))
np.log10(np.abs(np.array(digital_estimators[-1].h[:, 0, :])))
plt.figure()
for index in range(N):
plt.plot(np.arange(0, filter_lengths[-1]),
impulse_response_dB[filter_lengths[-1]:, index],
label=f"$h_{index + 1}[k]$")
plt.legend()
plt.xlabel("filter tap k")
plt.ylabel("$| h_\ell [k]|$ [dB]")
plt.xlim((0, filter_lengths[-1]))
plt.grid(which='both')
digital_estimators_ref = DigitalEstimator(
analog_system,
digital_control,
eta2,
stop_after_number_of_iterations >> 2,
1 << 14,
stop_after_number_of_iterations=stop_after_number_of_iterations)
digital_estimators_ref(
byte_stream_2_control_signal(
read_byte_stream_from_file(
'../a_getting_started/sinusodial_simulation.adc', M), M))
for index, estimate in enumerate(digital_estimators_ref):
u_hat[index] = estimate
f_ref, psd_ref = compute_power_spectral_density(u_hat)
u_hats = []
plt.rcParams['figure.figsize'] = [6.40, 6.40 * 4]
# DigitalEstimator class. However, these computations require us to
# specify both the analog system, the digital control and the filter parameters
# such as eta2, the batch size K1, and possible the lookahead K2.
# Set the bandwidth of the estimator
eta2 = 1e7
# Set the batch size
K1 = sequence_length
# Instantiate the digital estimator (this is where the filter coefficients are
# computed).
digital_estimator = DigitalEstimator(analog_system, digital_control, eta2, K1)
print(digital_estimator, "\n")
# Set control signal iterator
digital_estimator(control_signal_sequences)
###############################################################################
# Producing Estimates
# -------------------
#
# At this point, we can produce estimates by simply calling the iterator
for i in digital_estimator:
print(i)
# from the :math:`\ell`-th observation to the final estimate.
# Define dummy control and control sequence (not used when computing transfer
# functions). However necessary to instantiate the digital estimator
T = 1 / (2 * beta)
digital_control = DigitalControl(T, N)
# Compute eta2 for a given bandwidth.
omega_3dB = (4 * np.pi * beta) / 100.
eta2 = np.linalg.norm(
analog_system.transfer_function_matrix(np.array([omega_3dB])).flatten())**2
# Instantiate estimator.
digital_estimator = DigitalEstimator(analog_system,
digital_control,
eta2,
K1=1)
# Compute NTF
ntf = digital_estimator.noise_transfer_function(omega)
ntf_dB = 20 * np.log10(np.abs(ntf))
# Compute STF
stf = digital_estimator.signal_transfer_function(omega)
stf_dB = 20 * np.log10(np.abs(stf.flatten()))
# Plot
plt.figure()
plt.semilogx(frequencies, stf_dB, label='$STF(\omega)$')
for n in range(N):
plt.semilogx(frequencies, ntf_dB[0, n, :], label=f"$|NTF_{n+1}(\omega)|$")
