Python State.a示例

示例#1

def test_simple_dlqr():
    # Example taken from M. de Oliveira's MAE280B lecture notes
    H = State([[0, 0, 1, 0], [0, 0, 0, 1],
               [4.03428022844288e-06, 0, 0, 0.0515652322798669],
               [0, 0, -0.000104315254033883, 0]],
              [[0, 0], [1e-5 / 3, 0], [0, 0], [0, 0.01]],
              eye(4),
              dt=0.1)
    k, _, _ = lqr(H[:, 1], eye(4))
    H.a = H.a.T
    f, _, _ = lqr(H[:, 0], block_diag(0, 0, 1e-5, 1e-5), 0.1)
    assert_almost_equal(k, array([[0, 0, -2.08727337333631e-06, 0]]))
    assert_almost_equal(f, array([[1.71884123e-11, 0, 0, -1.79301359e-15]]))

示例#2

文件： test_static_ctrl_design.py 项目： ilayn/harold

def test_simple_dlqr():
    # Example taken from M. de Oliveira's MAE280B lecture notes
    H = State([[0, 0, 1, 0],
               [0, 0, 0, 1],
               [4.03428022844288e-06, 0, 0, 0.0515652322798669],
               [0, 0, -0.000104315254033883, 0]],
              [[0, 0], [1e-5/3, 0], [0, 0], [0, 0.01]],
              eye(4), dt=0.1)
    k, _, _ = lqr(H[:, 1], eye(4))
    H.a = H.a.T
    f, _, _ = lqr(H[:, 0], block_diag(0, 0, 1e-5, 1e-5), 0.1)
    assert_almost_equal(k, array([[0, 0, -2.08727337333631e-06, 0]]))
    assert_almost_equal(f,  array([[1.71884123e-11, 0, 0, -1.79301359e-15]]))

示例#3

def test_simple_lqr():
    # Example taken from M. de Oliveira's MAE280B lecture notes
    H = State([[0, 0, 1, 0], [0, 0, 0, 1],
               [4.03428022844288e-06, 0, 0, 0.0515652322798669],
               [0, 0, -0.000104315254033883, 0]],
              [[0, 0], [1e-5 / 3, 0], [0, 0], [0, 0.01]], eye(4))
    k, _, _ = lqr(H[:, 1], eye(4))
    H.a = H.a.T
    f, _, _ = lqr(H[:, 0], block_diag(0, 0, 1e-5, 1e-5), 0.1)
    assert_almost_equal(k, array([[1.00554916, -1, 52.52180106, 18.51107167]]))
    assert_almost_equal(
        f,
        array([[-577.370350, 173.600463, 0.383744946, 0.050228534]]),
        decimal=5)

示例#4

文件： test_static_ctrl_design.py 项目： ilayn/harold

def test_simple_lqr():
    # Example taken from M. de Oliveira's MAE280B lecture notes
    H = State([[0, 0, 1, 0],
               [0, 0, 0, 1],
               [4.03428022844288e-06, 0, 0, 0.0515652322798669],
               [0, 0, -0.000104315254033883, 0]],
              [[0, 0], [1e-5/3, 0], [0, 0], [0, 0.01]],
              eye(4))
    k, _, _ = lqr(H[:, 1], eye(4))
    H.a = H.a.T
    f, _, _ = lqr(H[:, 0], block_diag(0, 0, 1e-5, 1e-5), 0.1)
    assert_almost_equal(k, array([[1.00554916, -1, 52.52180106, 18.51107167]]))
    assert_almost_equal(f,  array([[-577.370350, 173.600463,
                                    0.383744946, 0.050228534]]), decimal=5)