simplify partition of NamedSS

Author: baggepinnen

src/hinfinity_design.jl

@@ -193,14 +193,17 @@ function hinfsynthesize(
     else
         # Return and empty controller, empty gain γ
         @warn "No feasible γ found, returning an empty controller. Try increasing the interval from the default `interval = (0, 20)` or change the scaling method using `method = :SVD`"
-        K = ss(0.0)
+        K = ss(zeros(P.nu, P.ny))
         γ = Inf
     end
     if hp
         bf(x) = T.(x)
         mats = bf.(ssdata(K))
         K = ss(mats..., K.timeevol)
     end
+    if P.sys isa NamedStateSpace
+        K = named_ss(K, u=P.y, y=P.u, x=Symbol.("K" .* string.(P.sys.x)))
+    end
     if check
         γactual = hinfnorm2(lft(P, K))[1]::T
         # NOTE: this check can erroneosly indicate numerical problems if Rtrans21 != 1. This may happen for method = :QR, in which case γactual ≈ γFeasible / Rtrans21

src/named_systems2.jl

@@ -945,57 +945,50 @@ function named_ss(sys::ExtendedStateSpace{T}, name="";
 end
 
 
-function partition(P::NamedStateSpace; u=nothing, y=nothing,
-    w = nothing,
-    z = nothing,
-    B1 = nothing,
-    B2 = nothing,
-    C1 = nothing,
-    C2 = nothing,
-    D11 = nothing,
-    D12 = nothing,
-    D21 = nothing,
-    D22 = nothing,
+function partition(P::NamedStateSpace; u=Symbol[], y=Symbol[],
+    w = Symbol[],
+    z = Symbol[],
+    # B1 = nothing,
+    # B2 = nothing,
+    # C1 = nothing,
+    # C2 = nothing,
+    # D11 = nothing,
+    # D12 = nothing,
+    # D21 = nothing,
+    # D22 = nothing,
 )
-    if w === nothing
-        inds = names2indices(u, P.u)
-        w = setdiff(1:P.nu, inds)
-        u = inds
+    if isempty(w)
+        w = setdiff(P.u, u)
     end
-    if z === nothing
-        inds = names2indices(y, P.y)
-        z = setdiff(1:P.ny, inds)
-        y = inds
+    if isempty(z)
+        z = setdiff(P.y, y)
     end
-    if u === nothing
-        inds = names2indices(w, P.u)
-        u = setdiff(1:P.nu, inds)
-        w = inds
+    if isempty(u)
+        u = setdiff(P.u, w)
     end
-    if y === nothing
-        inds = names2indices(z, P.y)
-        y = setdiff(1:P.ny, inds)
-        z = inds
+    if isempty(y)
+        y = setdiff(P.y, z)
     end
-    u = names2indices(identity.(u), P.u)
-    y = names2indices(identity.(y), P.y)
-    z = names2indices(identity.(z), P.y)
-    w = names2indices(identity.(w), P.u)
-    u = vcat(u)
-    y = vcat(y)
-    z = vcat(z)
-    w = vcat(w)
-    ss(P.A,
-        B1 === nothing ? P.B[:, w] : B1,
-        B2 === nothing ? P.B[:, u] : B2,
-        C1 === nothing ? P.C[z, :] : C1,
-        C2 === nothing ? P.C[y, :] : C2 ,
-        D11 === nothing ? P.D[z, w] : D11,
-        D12 === nothing ? P.D[z, u] : D12,
-        D21 === nothing ? P.D[y, w] : D21,
-        D22 === nothing ? P.D[y, u] : D22,
-        P.timeevol
-    )
+    # u = names2indices(identity.(u), P.u)
+    # y = names2indices(identity.(y), P.y)
+    # z = names2indices(identity.(z), P.y)
+    # w = names2indices(identity.(w), P.u)
+    # u = vcat(u)
+    # y = vcat(y)
+    # z = vcat(z)
+    # w = vcat(w)
+    # ss(P.A,
+    #     B1 === nothing ? P.B[:, w] : B1,
+    #     B2 === nothing ? P.B[:, u] : B2,
+    #     C1 === nothing ? P.C[z, :] : C1,
+    #     C2 === nothing ? P.C[y, :] : C2 ,
+    #     D11 === nothing ? P.D[z, w] : D11,
+    #     D12 === nothing ? P.D[z, u] : D12,
+    #     D21 === nothing ? P.D[y, w] : D21,
+    #     D22 === nothing ? P.D[y, u] : D22,
+    #     P.timeevol
+    # )
+    ExtendedStateSpace(P, w, u, z, y)
 end
 
 function CS.c2d(s::NamedStateSpace{Continuous}, Ts::Real, method::Symbol = :zoh, args...;

test/test_manual_hinf.jl

@@ -1,4 +1,4 @@
-using RobustAndOptimalControl, ControlSystemsBase, Plots
+using RobustAndOptimalControl, ControlSystemsBase, Plots, Test
 P = named_ss(ss(tf(1, [1, 0.1, 1])), :P)
 We = named_ss(makeweight(10, 1, 0.1),  :We, u=:y, y=:e)  # We care a lot about the error on low frequencies
 Wu = named_ss(0.01makeweight(1e-3, 10, 10), :Wu, u=:Wu, y=:uw) # Above ω=100, we want to limit the control effort
@@ -30,7 +30,7 @@ G = connect([P,We,Wu,Wd,sumP,split_u], connections; z1, w1)
 
 Gsyn = partition(G, u = [:u], y = [:y]) # You can provide either u or w, and either y or z
 K, γ, info = hinfsynthesize(Gsyn, γrel=1.001, interval = (0.1, 20), transform=false)
-
+@test K.u == [:y]
 
 Gsyn2 = hinfpartition(P, We, Wu, [])
 K2, γ2 = hinfsynthesize(Gsyn2, γrel=1.001, interval = (0.1, 20), transform=false)