def h2syn(P, nmeas, ncon):
"""H_2 control synthesis for plant P.
Parameters
----------
P: partitioned lti plant (State-space sys)
nmeas: number of measurements (input to controller)
ncon: number of control inputs (output from controller)
Returns
-------
K: controller to stabilize P (State-space sys)
Raises
------
ImportError
if slycot routine sb10hd is not loaded
See Also
--------
StateSpace
Examples
--------
>>> K = h2syn(P,nmeas,ncon)
"""
#Check for ss system object, need a utility for this?
#TODO: Check for continous or discrete, only continuous supported right now
# if isCont():
# dico = 'C'
# elif isDisc():
# dico = 'D'
# else:
dico = 'C'
try:
from slycot import sb10hd
except ImportError:
raise ControlSlycot("can't find slycot subroutine sb10hd")
n = np.size(P.A, 0)
m = np.size(P.B, 1)
np = np.size(P.C, 0)
out = sb10hd(n, m, np, ncon, nmeas, P.A, P.B, P.C, P.D)
Ak = out[0]
Bk = out[1]
Ck = out[2]
Dk = out[3]
K = StateSpace(Ak, Bk, Ck, Dk)
return K
def h2syn(P,nmeas,ncon):
"""H_2 control synthesis for plant P.
Parameters
----------
P: partitioned lti plant (State-space sys)
nmeas: number of measurements (input to controller)
ncon: number of control inputs (output from controller)
Returns
-------
K: controller to stabilize P (State-space sys)
Raises
------
ImportError
if slycot routine sb10hd is not loaded
See Also
--------
StateSpace
Examples
--------
>>> K = h2syn(P,nmeas,ncon)
"""
#Check for ss system object, need a utility for this?
#TODO: Check for continous or discrete, only continuous supported right now
# if isCont():
# dico = 'C'
# elif isDisc():
# dico = 'D'
# else:
dico = 'C'
try:
from slycot import sb10hd
except ImportError:
raise ControlSlycot("can't find slycot subroutine sb10hd")
n = np.size(P.A,0)
m = np.size(P.B,1)
np_ = np.size(P.C,0)
out = sb10hd(n,m,np_,ncon,nmeas,P.A,P.B,P.C,P.D)
Ak = out[0]
Bk = out[1]
Ck = out[2]
Dk = out[3]
K = StateSpace(Ak, Bk, Ck, Dk)
return K