test_block_diagram.py 文件源码

def control_systems(request):
    ct_sys, ref = request.param
    Ac, Bc, Cc = ct_sys.data
    Dc = np.zeros((Cc.shape[0], 1))

    Q = np.eye(Ac.shape[0])
    R = np.eye(Bc.shape[1] if len(Bc.shape) > 1 else 1)

    Sc = linalg.solve_continuous_are(Ac, Bc.reshape(-1, 1), Q, R,)
    Kc = linalg.solve(R, Bc.T @ Sc).reshape(1, -1)
    ct_ctr = LTISystem(Kc)

    evals = np.sort(np.abs(
        linalg.eig(Ac, left=False, right=False, check_finite=False)
    ))
    dT = 1/(2*evals[-1])

    Tsim = (8/np.min(evals[~np.isclose(evals, 0)])
            if np.sum(np.isclose(evals[np.nonzero(evals)], 0)) > 0
            else 8
            )

    dt_data = signal.cont2discrete((Ac, Bc.reshape(-1, 1), Cc, Dc), dT)
    Ad, Bd, Cd, Dd = dt_data[:-1]
    Sd = linalg.solve_discrete_are(Ad, Bd.reshape(-1, 1), Q, R,)
    Kd = linalg.solve(Bd.T @ Sd @ Bd + R, Bd.T @ Sd @ Ad)

    dt_sys = LTISystem(Ad, Bd, dt=dT)
    dt_sys.initial_condition = ct_sys.initial_condition
    dt_ctr = LTISystem(Kd, dt=dT)

    yield ct_sys, ct_ctr, dt_sys, dt_ctr, ref, Tsim