def iv_P_norm_expm(P_sqrt_T, M1, A, M2, tau):
"""
Bound on P-ellipsoid norm of (M1 (expm(A*t) - I) M2) for |t| < tau
using the theorem in arXiv:1911.02537, section "Norm bounding of summands"
@param P_sqrt_T: see iv_P_norm()
"""
P_sqrt_T = iv.matrix(P_sqrt_T)
M1 = iv.matrix(M1)
A = iv.matrix(A)
M2 = iv.matrix(M2)
# coerce tau to maximum
tau = abs(iv.mpf(tau)).b
# P-ellipsoid norms
M1_p = iv_P_norm(M=M1, P_sqrt_T=P_sqrt_T)
M2_p = iv_P_norm(M=M2, P_sqrt_T=P_sqrt_T)
A_p = iv_P_norm(M=A, P_sqrt_T=P_sqrt_T)
# A_pow[i] = A ** i
A_pow = _iv_matrix_powers(A)
# Work around bug in mpmath, see comment in iv_P_norm()
zero = iv.matrix(mp.zeros(len(A)))
M1 = zero + M1
# terms from [arXiv:1911.02537]
M1_Ai_M2_p = lambda i: iv_P_norm(M=M1 @ A_pow[i] @ M2, P_sqrt_T=P_sqrt_T)
gamma = lambda i: 1 / math.factorial(i) * (M1_Ai_M2_p(i) - M1_p * A_p ** i * M2_p)
max_norm = sum([gamma(i) * (tau ** i) for i in range(1, IV_NORM_EVAL_ORDER + 1)]) + M1_p * M2_p * (iv.exp(A_p * tau) - 1)
# the lower bound is always 0 (for t=0)
return mp.mpi([0, max_norm.b])
def iv_P_norm(M, P_sqrt_T):
"""
interval bound on P-ellipsoid norm of M, defined as max_{x in R^n} sqrt(((M x).T P (M x)) / (x.T P x))
with P_sqrt_T.T @ P_sqrt_T = P, where x.T P x typically is a Lyapunov function
"""
P_sqrt_T = iv.matrix(P_sqrt_T)
M = iv.matrix(M)
# P_norm(M) = spectral norm (maximum singular value) of P_sqrt_T A P_sqrt_T**(-1)
return iv_spectral_norm(iv.matrix(P_sqrt_T) @ M @ iv_matrix_inv(iv.matrix(P_sqrt_T)))
def example_matrices(self, include_singular=True, random=100):
examples = [
iv.matrix([[1, 2], [4, 5]]) + iv.mpf([-1, +1]) * mp.mpf(1e-10),
iv.eye(2) * 0.5,
iv.diag([1, 1e-10]),
iv.eye(2) * 1e-302
]
for n in [1, 4, 17]:
for i in range(random // n):
examples.append(iv.matrix(mp.randmatrix(n)))
if include_singular:
examples.append(iv.matrix(mp.zeros(4)))
examples.append(iv.diag([1, 1e-200]))
return examples
def iv_spectral_norm(M):
"""
Good interval bound of spectral norm of a (interval) matrix
Theorem 3.2 from
Siegfried M. Rump. “Verified bounds for singular values, in particular for the
spectral norm of a matrix and its inverse”. In: BIT Numerical Mathematics 51.2
(Nov. 2010), pp. 367–384. DOI : 10.1007/s10543-010-0294-0.
"""
M = iv.matrix(M)
# imprecise SVD of M (no requirement on precision)
# _, _, V_T = mp.svd(iv_matrix_mid_to_mp(M)) # <-- configurable precision
_, _, V_T = scipy.linalg.svd(iv_matrix_mid_to_numpy_ndarray(M)) # <-- faster
# in [Rump 2010], SVD is defined as M = U @ S @ V.T,
# in mpmath it is M = U @ S @ V (not transposed) for U,S,V=svd(M)
# in scipy it is effectively the same as in mpmath, M = U @ S @ Vh for U,S,Vh = svd(M)
V = numpy_ndarray_to_mp_matrix(V_T).T
# now, everything is named as in [Rump2010], except that here, A is called M.
# all following computations are interval bounds
V = iv.matrix(V)
B = M @ V
BTB = B.T @ B
# split BTB such that DE = diagonal D + rest E
D = BTB @ 0
E = BTB @ 0
for i in range(BTB.rows):
for j in range(BTB.cols):
if i == j:
D[i,j] = BTB[i,j]
else:
E[i,j] = BTB[i,j]
# upper bound of spectral norm of I - V.T @ V
alpha = iv_spectral_norm_rough(iv.eye(len(M)) - V.T @ V)
# upper bound of spectral norm of E
epsilon = iv_spectral_norm_rough(E)
# maximum of D[i,i] (which are always >= 0)
d_max = iv.norm(D, mp.inf)
if alpha.b >= 1:
# this shouldn't happen - even an imprecise SVD will roughly have V.T @ V = I.
raise scipy.linalg.LinAlgError("Something's numerically wrong - the singular vectors are far from orthonormal")
# should this ever happen in reality, a valid return value would be:
# return iv.mpf([0, mp.inf])
try:
lower_bound = iv.sqrt((d_max - epsilon) / (1 + alpha)).a
except mp.libmp.libmpf.ComplexResult:
lower_bound=0;
# note that d_max, epsilon,alpha are intervals, so everything in the following computation is interval arithmetic
return iv.mpf([lower_bound, iv.sqrt((d_max + epsilon) / (1 - alpha)).b])
def test_P_synthesis(self):
"""
Combined test:
For A with eigenvalues inside the unit disk,
generate P_sqrt_T such that P_norm(A, P_sqrt_T) < 1.
"""
for c in [0.001234, 1, -2, 42.123]:
eigenvalue = 0.99
# rotation matrix with eigenvalue magnitude 0.99,
# transformed with factor c (c=1: invariant set is a circle, otherwise: invariant set is elliptical)
A = iv.matrix([[0., -c * eigenvalue], [eigenvalue / c, 0]])
# Note that A must be well-conditioned, otherwise this test will fail
# compute eigenvalues of A
eigv_A, _ = mp.eig(iv_matrix_mid_as_mp(A))
self.assertAlmostEqual(eigenvalue, max([abs(i) for i in eigv_A]),
3)
P_sqrt_T = approx_P_sqrt_T(A)
P_norm_iv = iv_P_norm(A, P_sqrt_T)
self.check_P_norm(A, P_sqrt_T)
# P_norm_iv must be at least 0.99, but should not be much larger than that
self.assertLess(P_norm_iv, 1)
self.assertGreater(P_norm_iv.b, 0.99)
self.check_P_norm_expm(P_sqrt_T,
M1=mp.randmatrix(2),
A=A,
M2=mp.randmatrix(2),
tau=0.01)
def iv_matrix_inv(M):
"""
interval matrix inverse, with caching
NOTE: If you change mpmath's resolution after the first call to this function,
you may get cached old output with the old resolution.
"""
assert isinstance(M, (mp.matrix, iv.matrix))
M = iv.matrix(M)
return M**(-1)
def _iv_matrix_powers(A):
"""
return the first IV_NORM_EVAL_ORDER+1 powers of A:
[I, A, A**2, ..., A**(IV_NORM_EVAL_ORDER)]
"""
assert isinstance(A, iv.matrix)
A = iv.matrix(A) + mp.mpi(0,0) # workaround bug
A_pow = [iv.eye(len(A))]
for i in range(IV_NORM_EVAL_ORDER+1):
A_pow.append(A @ A_pow[-1])
return A_pow
def example_C():
"""
DigitalControlLoop and P_sqrt_T value for example C.
"""
s = examples.example_C_quadrotor_attitude_one_axis()
# P_sqrt_T = analyze(s, datatype=np)['P_sqrt_T']
P_sqrt_T = iv.matrix(
[[
'0.0019244615174829', '0.010762303718393', '-0.000842841208611818',
'-0.000546543030195919', '0.337150563056583'
],
[
'0.0', '0.0145387640958695', '0.000181643285522379',
'0.000217863576839351', '0.414793996245936'
],
[
'0.0', '0.0', '0.443015131922611', '-0.443014979405948',
'0.000266278043438505'
], ['0.0', '0.0', '0.0', '0.000392820699869412', '0.432006259021524'],
['0.0', '0.0', '0.0', '0.0', '0.662735066069117']])
return (s, P_sqrt_T)
def convert(M):
if isinstance(M, mpmath.matrix):
return iv.matrix(M)
else:
return iv.matrix(M.tolist())
def test_matrix_abs_max(self):
A = iv.matrix([[1, 2], [4, 5]]) + iv.mpf([-1, +1]) * mp.mpf(1e-10)
assert mp.matrix([[1, 2], [4, 5]]) + mp.mpf(1e-10) == matrix_abs_max(A)
assert mp.matrix([[1, 2], [4, 5]
]) + mp.mpf(1e-10) == matrix_abs_max(-A)