dkpy.DkIteration

class dkpy.DkIteration(controller_synthesis, structured_singular_value, d_scale_fit)

Bases: object

D-K iteration base class.

Parameters:

controller_synthesis (ControllerSynthesis)
structured_singular_value (StructuredSingularValue)
d_scale_fit (DScaleFit)

__init__(controller_synthesis, structured_singular_value, d_scale_fit)

Instantiate DkIteration.

Parameters:

controller_synthesis (dkpy.ControllerSynthesis) – A controller synthesis object.
structured_singular_value (dkpy.StructuredSingularValue) – A structured singular value computation object.
d_scale_fit (dkpy.DScaleFit) – A D-scale fit object.

Methods

`__init__`(controller_synthesis, ...)	Instantiate `DkIteration`.
`synthesize`(P, n_y, n_u, omega, block_structure)	Synthesize controller using D-K iteration.

synthesize(P, n_y, n_u, omega, block_structure)

Synthesize controller using D-K iteration.

The IterResult objects returned by this function can be plotted using plot_mu() and plot_D().

Parameters:

P (control.StateSpace) – Generalized plant, with y and u as last outputs and inputs respectively.
n_y (int) – Number of measurements (controller inputs).
n_u (int) – Number of controller outputs.
omega (np.ndarray) – Angular frequencies to evaluate D-scales (rad/s).
block_structure (Optional[List[uncertainty_structure.UncertaintyBlock], List[List[int]], np.ndarray]) – Uncertainty block structure representation.

Returns:

Controller, closed-loop system, structured singular value, intermediate results for each iteration, and solution information. If a controller cannot by synthesized, the first three elements of the tuple are None, but fit and solution information are still returned.

Return type:

Tuple[control.StateSpace, control.StateSpace, float, List[IterResult], Dict[str, Any]]