First working example

Author: ufechner7

mwes/mwe_02.jl

@@ -7,7 +7,7 @@ if ! ("ControlPlots" ∈ keys(Pkg.project().dependencies))
     using TestEnv; TestEnv.activate()
     using Test
 end
-using WinchControllers, KiteUtils, ControlPlots
+using WinchControllers, WinchModels, KiteUtils, ControlPlots
 
 if isfile("data/system_tuned.yaml")
     set = load_settings("system_tuned.yaml")
@@ -63,4 +63,19 @@ v_act = find_equilibrium_speed(winch, v_set, force)
 x0 = [v_act]         # State at operating point
 u0 = [v_set, force]  # Input at operating point
 
+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
+
+A = finite_jacobian(x -> motor_dynamics(x, u0), x0)
+B = finite_jacobian(u -> motor_dynamics(x0, u), u0)
+