named ss utils

Author: baggepinnen

Project.toml

@@ -1,7 +1,7 @@
 name = "RobustAndOptimalControl"
 uuid = "21fd56a4-db03-40ee-82ee-a87907bee541"
 authors = ["Fredrik Bagge Carlson", "Marcus Greiff"]
-version = "0.2.5"
+version = "0.3.0"
 
 [deps]
 ChainRulesCore = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4"
@@ -15,6 +15,7 @@ MatrixEquations = "99c1a7ee-ab34-5fd5-8076-27c950a045f4"
 MatrixPencils = "48965c70-4690-11ea-1f13-43a2532b2fa8"
 MonteCarloMeasurements = "0987c9cc-fe09-11e8-30f0-b96dd679fdca"
 Optim = "429524aa-4258-5aef-a3af-852621145aeb"
+Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
 Printf = "de0858da-6303-5e67-8744-51eddeeeb8d7"
 Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
 RecipesBase = "3cdcf5f2-1ef4-517c-9805-6587b60abb01"
@@ -32,15 +33,16 @@ MatrixEquations = "2"
 MatrixPencils = "1"
 MonteCarloMeasurements = "1.0"
 Optim = "1.5"
+Plots = "1"
 RecipesBase = "1"
 UnPack = "1.0"
 julia = "1.6"
 
 [extras]
+FiniteDiff = "6a86dc24-6348-571c-b903-95158fe2bd41"
 Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 Zygote = "e88e6eb3-aa80-5325-afca-941959d7151f"
-FiniteDiff = "6a86dc24-6348-571c-b903-95158fe2bd41"
 
 [targets]
 test = ["Test", "Plots", "Zygote", "FiniteDiff"]

src/RobustAndOptimalControl.jl

@@ -2,6 +2,7 @@ module RobustAndOptimalControl
 
 using ControlSystems: issiso
 using LinearAlgebra, Statistics
+using Plots
 using RecipesBase
 using ControlSystems
 import ControlSystems: ss, ssdata, ninputs, noutputs, nstates, isdiscrete, iscontinuous, to_matrix, timeevol, _string_mat_with_headers, PartionedStateSpace, common_timeevol

src/named_systems2.jl

@@ -141,17 +141,17 @@ function named_ss(sys::AbstractStateSpace{T};
 end
 
 """
-    named_ss(sys::AbstractStateSpace, name)
+    named_ss(sys::AbstractStateSpace, name; x, y, u)
 
 If a single name is provided, the outputs, inputs and states will be automatically named
 `y,u,x` with `name` as prefix.
 """
-function named_ss(sys::AbstractStateSpace, name)
-    named_ss(sys,
-        x = Symbol(string(name)*"x"),
-        y = Symbol(string(name)*"y"),
-        u = Symbol(string(name)*"u"),
+function named_ss(sys::AbstractStateSpace, name;
+    x = Symbol(string(name)*"x"),
+    y = Symbol(string(name)*"y"),
+    u = Symbol(string(name)*"u"),
     )
+    named_ss(sys; x, y, u)
 end
 
 ControlSystems.ss(sys::NamedStateSpace) = ss(sys.sys)
@@ -579,6 +579,35 @@ function named_ss(sys::ExtendedStateSpace{T}, name="";
 end
 
 
+function partition(P::NamedStateSpace; u=nothing, y=nothing,
+    w = nothing,
+    z = nothing
+)
+    if w === nothing
+        w = names2indices(setdiff(P.u, u), P.u)
+        u = names2indices(u, P.u)
+    end
+    if z === nothing
+        z = names2indices(setdiff(P.y, y), P.y)
+        y = names2indices(y, P.y)
+    end
+    if u === nothing
+        u = names2indices(setdiff(P.u, w), P.u)
+        w = names2indices(w, P.u)
+    end
+    if y === nothing
+        y = names2indices(setdiff(P.y, z), P.y)
+        z = names2indices(z, P.y)
+    end
+    u = vcat(u)
+    y = vcat(y)
+    z = vcat(z)
+    w = vcat(w)
+    ss(P.A, P.B[:, w], P.B[:, u], P.C[z, :], P.C[y, :], 
+    P.D[z, w], P.D[z, u], P.D[y, w], P.D[y, u], P.timeevol)
+end
+
+
 CS.@recipe function plot(res::CS.SimResult{<:Any, <:Any, <:Any, <:Any, <:NamedStateSpace})
     s = res.sys
     label --> permutedims(["From $n" for n in s.u])

src/utils.jl

@@ -21,7 +21,7 @@ D =
 Continuous-time state-space model
 
 julia> show_construction(sys, name="Jörgen")
-sys = let
+Jörgen = let
     JörgenA = [-1.0;;]
     JörgenB = [1.0;;]
     JörgenC = [1.0;;]
@@ -32,13 +32,13 @@ end
 """
 function show_construction(io::IO, sys::LTISystem; name = "temp", letb = true)
     # sys = StateSpace(sys)
-    letb && println(io, "sys = let")
+    letb && println(io, "$name = let")
     prestr = letb ? "    " : "" 
     println(io, prestr*"$(name)A = ", sys.A)
     println(io, prestr*"$(name)B = ", sys.B)
     println(io, prestr*"$(name)C = ", sys.C)
     println(io, prestr*"$(name)D = ", sys.D)
-    letb || print(io, "sys = ")
+    letb || print(io, "$name = ")
     if isdiscrete(sys)
         println(io, prestr*"ss($(name)A, $(name)B, $(name)C, $(name)D, $(sys.Ts))")
     else