misc fixes

Author: baggepinnen

Project.toml

@@ -1,7 +1,7 @@
 name = "RobustAndOptimalControl"
 uuid = "21fd56a4-db03-40ee-82ee-a87907bee541"
 authors = ["Fredrik Bagge Carlson", "Marcus Greiff"]
-version = "0.3.1"
+version = "0.3.2"
 
 [deps]
 ChainRulesCore = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4"

src/hinfinity_design.jl

@@ -408,7 +408,7 @@ function _solvehamiltonianare(H)#::AbstractMatrix{<:LinearAlgebra.BlasFloat})
     U11 = S.Z[1:div(m, 2), 1:div(n, 2)]
     U21 = S.Z[div(m, 2)+1:m, 1:div(n, 2)]
 
-    return U21 * pinv(U11), S.values
+    return U21 / (U11), S.values # Note: if pinv is used, BigFloats may fail
 end
 
 """

src/plotting.jl

@@ -5,8 +5,8 @@ using Printf
     specificationplot([S,CS,T], [WS,WU,WT])
 
 This function visualizes the control synthesis using the hInf_synthesize with
-the three weighting functions \${W_S(s), W_U(s), W_T(s)}\$ inverted and scaled by γ,
-against the corresponding transfer functions \${S(s), C(s)S(s), T(s)}\$, to
+the three weighting functions \$W_S(s), W_U(s), W_T(s)\$ inverted and scaled by γ,
+against the corresponding transfer functions \$S(s), C(s)S(s), T(s)\$, to
 verify visually that the specifications are met. This may be run using both MIMO
 and SISO systems.
 """
@@ -73,7 +73,11 @@ specificationplot
             elseif W == []
                 continue
             end
-            singval = sigma(γ / W, w)[1]
+            if W isa AbstractStateSpace && !isfinite(cond(W.D)) # Non-invertible weight
+                singval = sigma(γ * fudge_inv(W, 1e-6), w)[1]
+            else
+                singval = sigma(γ / W, w)[1]
+            end
             if ControlSystems._PlotScale == "dB"
                 singval = 20 * log10.(singval)
             end