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optimize performance of sigma #840

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May 17, 2023
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optimize performance of sigma #840

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optimize performance of sigma
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@baggepinnen
baggepinnen committed May 17, 2023
commit 0bae63a1f164f2f62feba128207d340728384ead
12 changes: 10 additions & 2 deletions lib/ControlSystemsBase/src/freqresp.jl
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Expand Up @@ -358,10 +358,18 @@ end
Compute the singular values `sv` of the frequency response of system `sys` at
frequencies `w`. See also [`sigmaplot`](@ref)

`sv` has size `(max(ny, nu), length(w))`"""
`sv` has size `(min(ny, nu), length(w))`"""
@autovec (1) function sigma(sys::LTISystem, w::AbstractVector)
resp = freqresp(sys, w)
sv = dropdims(mapslices(svdvals, resp, dims=(1,2)),dims=2)
ny, nu = size(sys)
if ny == 1 || nu == 1 # Shortcut available
sv = Matrix{real(eltype(resp))}(undef, 1, length(w))
for i = eachindex(w)
@views sv[1, i] = norm(resp[:,:,i])
end
else
sv = dropdims(mapslices(svdvals, resp, dims=(1,2)),dims=2)::Matrix{real(eltype(resp))}
end
return sv, w
end
@autovec (1) sigma(sys::LTISystem) = sigma(sys, _default_freq_vector(sys, Val{:sigma}()))
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18 changes: 18 additions & 0 deletions lib/ControlSystemsBase/test/test_freqresp.jl
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Expand Up @@ -128,6 +128,24 @@ end
@test sigma(sys, ws)[1] ≈ sigs


## Test sigma when either ny = 1 or nu = 1
sys = ssrand(1,2,1)
resp = freqresp(sys, ws)
sigs = Array{Float64}(undef, 1, 50)
for i in eachindex(ws)
sigs[:, i] = svdvals(resp[:,:,i])
end
@test sigma(sys, ws)[1] ≈ sigs

sys = ssrand(2,1,1)
resp = freqresp(sys, ws)
sigs = Array{Float64}(undef, 1, 50)
for i in eachindex(ws)
sigs[:, i] = svdvals(resp[:,:,i])
end
@test sigma(sys, ws)[1] ≈ sigs


# test unwrap
P = tf(1, [1, 1, 0]) * tf(1, [1, 1])
w = exp10.(LinRange(-2, 4, 200))
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