Fix bug with MIMO spectral factorization constraints.

Author: timeverettadams

examples/7_uncertainty_characterization.py

@@ -40,10 +40,10 @@ def example_uncertainty_characterization():
 
     # Fit overbounding stable and minimum-phase uncertainty weight system
     weight_left = dkpy.fit_uncertainty_weight(
-        response_weight_left, omega, [8, 8], "diagonal"
+        response_weight_left, omega, [4, 5], "diagonal"
     )
     weight_right = dkpy.fit_uncertainty_weight(
-        response_weight_right, omega, [8, 8], "diagonal"
+        response_weight_right, omega, [3, 5], "diagonal"
     )
 
     # Plot: Magnitude response of nominal and off-nominal systems

src/dkpy/uncertainty_characterization.py

@@ -989,7 +989,6 @@ def _fit_uncertainty_weight_diagonal(
     return uncertainty_weight
 
 
-# TODO: Fit spectral factorization constraint generation
 def _fit_uncertainty_weight_full(
     complex_uncertainty_weight: np.ndarray,
     omega: np.ndarray,
@@ -999,7 +998,7 @@ def _fit_uncertainty_weight_full(
     tol_bisection: float = 1e-3,
     max_iter_bisection: int = 500,
     max_iter_bisection_init: int = 15,
-    omega_power_constraint: Optional[np.ndarray] = None,
+    nbr_power_constraint: int = 500,
 ):
     # Compute uncertainty weight power spectrum
     power_uncertainty_weight = np.matmul(
@@ -1019,7 +1018,7 @@ def _fit_uncertainty_weight_full(
         tol_bisection=tol_bisection,
         max_iter_bisection=max_iter_bisection,
         max_iter_bisection_init=max_iter_bisection_init,
-        omega_power_constraint=omega_power_constraint,
+        nbr_power_constraint=nbr_power_constraint,
     )
 
     return uncertainty_weight