Add RobustAndOptimalControl

Author: ufechner7

Project.toml

@@ -51,4 +51,4 @@ NOMAD = "02130f1c-4665-5b79-af82-ff1385104aa0"
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 
 [targets]
-test = ["Test", "ControlPlots", "Documenter", "Aqua", "NOMAD"]
+test = ["Test", "ControlPlots", "Documenter", "Aqua", "NOMAD", "RobustAndOptimalControl"]

mwes/mwe_07.jl

@@ -1,7 +1,7 @@
 # Linearize the closed loop system consisting of the winch, kite and upper force controller.
 
 using Pkg
-if ! ("ControlPlots" ∈ keys(Pkg.project().dependencies))
+if ! ("RobustAndOptimalControl" ∈ keys(Pkg.project().dependencies))
     using TestEnv; TestEnv.activate()
     using Test
 end
@@ -94,16 +94,28 @@ function open_loop_system(winch, v_set, v_wind)
     return C * sys
 end
 
-for v_wind in range(7.5, 9, length=2)
-    global sys
-    local v_set
-    v_set = 0.57*v_wind
-    # @info "Linearizing for v_wind: $v_wind m/s, v_ro: $(round(v_set, digits=2)) m/s"
-    sys = open_loop_system(winch, v_set, v_wind)
-    # gm, pm, wgm, wpm = margin(sys; adjust_phase_start=false)
-    # @info "Gain margin: $gm, Phase margin: $pm, Gain crossover frequency: $wgm, Phase crossover frequency: $wpm"
-    # bode_plot(sys; from=0.76, to=2.85, title="Linearized System, v_wind=8..9 m/s")
+function margins(sys)
+    margins = []
+    for v_wind in range(1, 9, length=9)
+        global sys
+        local v_set, dm
+        v_set = 0.57*v_wind
+        sys = open_loop_system(winch, v_set, v_wind)
+        dm = diskmargin(sys)
+        push!(margins, dm.margin)
+    end
+    min_margin = minimum(margins)
+    if min_margin < 0.3
+        @error "System is unstable with a minimum margin of: $min_margin"
+    elseif min_margin < 0.5
+        @warn "System is marginally stable with a minimum margin of: $min_margin"
+    else
+        @info "System is stable with a minimum margin of: $min_margin"
+    end
+    return margins
 end
-dm = diskmargin(sys)
-@info "$dm"
-plot(dm)
+margins(sys)
+
+# dm = diskmargin(sys)
+# @info "$dm"
+# plot(dm)