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add option to design observers with direct term #861

Merged
merged 6 commits into from
Jul 11, 2023
Merged

add option to design observers with direct term #861

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f09669e
add observer_filter
baggepinnen Jul 10, 2023
0e884f2
add option to design observers with direct term
baggepinnen Jul 10, 2023
fbcae0d
fix diff kalman
baggepinnen Jul 10, 2023
0179a57
rearrange tests
baggepinnen Jul 10, 2023
700886f
only issue error for cont. systems
baggepinnen Jul 10, 2023
b914815
expand reference
baggepinnen Jul 11, 2023
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rearrange tests
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@baggepinnen
baggepinnen committed Jul 10, 2023
commit 0179a570807cba22ee5a3c0ad9f02da2a101aa9f
33 changes: 11 additions & 22 deletions lib/ControlSystemsBase/test/test_matrix_comps.jl
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Expand Up @@ -234,28 +234,6 @@ cont = observer_controller(sys, L, K, direct=true)
syscl = feedback(sys, cont)
@test isstable(syscl)

pcl = poles(syscl)
A,B,C,D = ssdata(sys)
allpoles = [
eigvals(A-B*L)
eigvals(A-K*C)
]
@test sort(pcl, by=LinearAlgebra.eigsortby) ≈ sort(allpoles, by=LinearAlgebra.eigsortby)
@test cont.B == K

## Test time scaling
for balanced in [true, false]
sys = ssrand(1,1,5);
t = 0:0.1:50
a = 10

Gs = tf(1, [1e-6, 1]) # micro-second time scale modeled in seconds
Gms = time_scale(Gs, 1e-6; balanced) # Change to micro-second time scale
@test Gms == tf(1, [1, 1])
end



# Test observer_controller discrete with pole placement
Ts = 0.01
sys = ssrand(2,3,4; Ts, proper=true)
Expand Down Expand Up @@ -292,6 +270,17 @@ allpoles = [
]
@test sort(pcl, by=real) ≈ sort(allpoles, by=real) rtol=1e-3

## Test time scaling
for balanced in [true, false]
sys = ssrand(1,1,5);
t = 0:0.1:50
a = 10

Gs = tf(1, [1e-6, 1]) # micro-second time scale modeled in seconds
Gms = time_scale(Gs, 1e-6; balanced) # Change to micro-second time scale
@test Gms == tf(1, [1, 1])
end



## Test balancing with Duals
Expand Down
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