Merge pull request #110 from JuliaControl/nicenames

Improvements to workflow with named systems

Author: baggepinnen

src/hinfinity_design.jl

@@ -566,7 +566,7 @@ function _scalematrix(A::AbstractMatrix; method = :QR)
     elseif method === :SVD
         return _coordinatetransformsvd(A)
     else
-        error("The method $method is not supported, use 'QR' or 'SVD' instad.")
+        error("The method $method is not supported, use `:QR` or `:SVD` instead.")
     end
 end
 

src/named_systems2.jl

@@ -64,6 +64,12 @@ function Base.promote_rule(::Type{NamedStateSpace{TE, StateSpace{TE, T1}}}, ::Ty
     NamedStateSpace{TE, StateSpace{TE, promote_type(T1,eltype(MT))}}
 end
 
+function Base.promote_rule(::Type{U}, ::Type{NamedStateSpace{T, S}}) where
+    {T, TF, U<:TransferFunction{<:Any, TF} , S<:AbstractStateSpace{T}} 
+    inner = promote_type(U,S)
+    NamedStateSpace{T, inner}
+end
+
 
 
 function Base.convert(::Type{NamedStateSpace{T, S}}, s::U) where {T, S <: AbstractStateSpace, U <: AbstractStateSpace}
@@ -82,6 +88,11 @@ function Base.convert(::Type{NamedStateSpace{T, S}}, s::NamedStateSpace{T, U}) w
     NamedStateSpace{T,typeof(sys)}(sys, s.x, s.u, s.y, s.name)
 end
 
+function Base.convert(::Type{NamedStateSpace{T, S}}, s::U) where {T, S <: AbstractStateSpace, U <: TransferFunction}
+    s2 = Base.convert(S, s)
+    named_ss(s2, x = gensym("x"), u = gensym("u"), y = gensym("y"))
+end
+
 # function Base.convert(::Type{TransferFunction{TE, S}}, s::U) where {TE, S, U <: NamedStateSpace{TE}}
 #     convert(TransferFunction{TE, S}, s.sys)
 # end
@@ -288,6 +299,34 @@ function Base.:*(s1::NamedStateSpace{T, S}, s2::Number) where {T <: CS.TimeEvolu
     )
 end
 
+function Base.:*(s1::AbstractMatrix, s2::NamedStateSpace{T, S}) where {T <: CS.TimeEvolution, S}
+    if isdiag(s1)
+        return NamedStateSpace{T,S}(
+            s1*s2.sys,
+            s2.x,
+            s2.u,
+            [Symbol(string(y)*"_scaled") for y in s2.y],
+            isempty(s2.name) ? "" : s2.name*"_scaled",
+        )
+    else
+        return *(promote(s1, s2)...)
+    end
+end
+
+function Base.:*(s1::NamedStateSpace{T, S}, s2::AbstractMatrix) where {T <: CS.TimeEvolution, S}
+    if isdiag(s2)
+        return NamedStateSpace{T,S}(
+            s1.sys*s2,
+            s1.x,
+            [Symbol(string(u)*"_scaled") for u in s1.u],
+            s1.y,
+            isempty(s1.name) ? "" : s1.name*"_scaled",
+        )
+    else
+        return *(promote(s1, s2)...)
+    end
+end
+
 function Base.:/(s::NamedStateSpace{T, S}, n::Number) where {T <: CS.TimeEvolution, S}
     s*(1/n)
 end
@@ -324,7 +363,9 @@ end
 """
     measure(s::NamedStateSpace, names)
 
-Return a system with specified states as measurement outputs.
+Return a system with specified state variables as measurement outputs.
+
+See also [`add_output`](@ref).
 """
 function measure(s::NamedStateSpace, names)
     inds = names2indices(names, s.x)
@@ -801,6 +842,27 @@ function CS.append(systems::NamedStateSpace...; kwargs...)
 end
 
 
+"""
+    add_output(sys::NamedStateSpace, C2::AbstractArray, D2 = 0; y)
+
+Add outputs to `sys` corresponding to the output matrix `C2` and the feedthrough matrix `D2` to the system `sys`.
+
+# Arguments:
+- `y`: The names used for the new outputs. If not provided, the names will be generated automatically.
+
+See also [`measure`](@ref) for a simpler way to output state variables.
+"""
+function CS.add_output(sys::NamedStateSpace, C2::AbstractArray, D2=0; y = [Symbol("y_$i") for i in (1:size(C2, 1)) .+ sys.ny])
+    T = promote_type(CS.numeric_type(sys), eltype(C2), eltype(D2))
+    A,B,C,D = ssdata(sys)
+    D3 = D2 == 0 ? zeros(T, size(C2, 1), sys.nu) : D2
+    x = sys.x
+    u = sys.u
+    y = [sys.y; y]
+    named_ss(ss(A, B, [C; C2], [D; D3]), sys.timeevol; x, u, y)
+end
+
+
 function CS.minreal(sys::NamedStateSpace, args...; kwargs...)
     msys = minreal(sys.sys, args...; kwargs...)
     named_ss(msys; sys.u, sys.y, sys.name)

test/test_named_systems2.jl

@@ -139,6 +139,10 @@ end
     G = measure(s1, :x)
     @test G.C == ones(1, 1)
     @test G.y == [:x]
+
+    @test add_output(s1, [0.2]) isa NamedStateSpace
+    @test add_output(s1, [0.2], y=[:hej]).y[2] === :hej
+
 end
 
 G1 = ss(1,1,1,0)
@@ -189,6 +193,27 @@ s2 = named_ss(G2, x = [:z], u = [:u1], y=[:y2])
     G1 = named_ss(ssrand(1,1,1, Ts=1), "G1")
     G2 = named_ss(ssrand(1,1,1, Ts=1), "G2")
     gangoffourplot(G1, G2) # tests some convert methods for I to discrete
+
+
+    G1 = named_ss(ssrand(1,1,1), "G1")
+    # Scalars
+    @test_nowarn G1*1
+    @test_nowarn 1*G1
+
+    # Transfer function
+    @test (G1*tf(1, [1,1])).sys == (G1*ss(tf(1, [1,1]))).sys
+    @test (tf(1, [1,1])*G1).sys == (ss(tf(1, [1,1]))*G1).sys
+
+    # Matrix
+    @test (G1*ones(1,1)).sys == (G1*ss(ones(1,1))).sys
+    @test (ones(1,1)*G1).sys == (ss(ones(1,1))*G1).sys
+
+    # if the matrix is diagonal, the names are `u_scaled`
+    @test endswith(string((G1*ones(1,1)).u[]), "_scaled")
+
+    # If the matrix is not diagonal, the names are generic
+    G1 = named_ss(ssrand(1,2,1), "G1")
+    @test !endswith(string((G1*ones(2,2)).u[1]), "_scaled")
 end