Cleanup

Author: ufechner7

mwes/mwe_04.jl

@@ -22,18 +22,6 @@ wcs.test = true
 
 winch = Winch(wcs, set)
 
-function finite_jacobian(f, x; ϵ=sqrt(eps(eltype(x))))
-    n = length(x)
-    m = length(f(x))
-    J = zeros(m, n)
-    for i in 1:n
-        Δx = zeros(n)
-        Δx[i] = ϵ
-        J[:, i] = (f(x + Δx) - f(x - Δx)) ./ (2ϵ)
-    end
-    J
-end
-
 # find equilibrium speed
 function find_equilibrium_speed(winch, set_speed, force, n=10000)
     last_v_act = 0.0
@@ -66,8 +54,8 @@ function linearize(winch, v_set, force)
     v_act = find_equilibrium_speed(winch, v_set, force)
     x0 = [v_act]         # State at operating point
     u0 = [v_set, force]  # Input at operating point
-    A = finite_jacobian(x -> motor_dynamics(x, u0), x0)
-    B = finite_jacobian(u -> motor_dynamics(x0, u), u0)
+    A = finite_difference_jacobian(x -> motor_dynamics(x, u0), x0)
+    B = finite_difference_jacobian(u -> motor_dynamics(x0, u), u0)
     C = [1.0]
     D = [0.0 0.0]
     siso_sys = ss(A, B[:, 1], C, D[:, 1])