Merge branch 'master' of github.com:JuliaControl/RobustAndOptimalCont…

…rol.jl

Project.toml

@@ -1,7 +1,7 @@
 name = "RobustAndOptimalControl"
 uuid = "21fd56a4-db03-40ee-82ee-a87907bee541"
 authors = ["Fredrik Bagge Carlson", "Marcus Greiff"]
-version = "0.4.28"
+version = "0.4.29"
 
 [deps]
 ChainRulesCore = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4"

src/named_systems2.jl

@@ -380,18 +380,45 @@ end
 
 ControlSystemsBase.feedback(s1::NamedStateSpace{T}, s2::AbstractStateSpace{T}; kwargs...) where {T <: CS.TimeEvolution} = feedback(s1, named_ss(s2); kwargs...)
 
+function connect(systems; u1::Vector{Symbol}, y1::Vector{Symbol}, w1, z1 = (:), verbose = true, kwargs...)
+    full = append(systems...)
+    @assert length(y1) == length(u1)
+    @check_unique u1 "Connected inputs not unique. If you want to connect several signals to the same input, use a summation node, e.g., named_ss(ss([1  1]), u=[:u1, :u2], y=:usum)"
+    @check_unique full.u "system inputs"
+    @check_unique full.y "system outputs"
+
+    if verbose
+        leftover_inputs = setdiff(full.u, [u1; w1])
+        isempty(leftover_inputs) || @warn("The following inputs were unconnected $leftover_inputs, ignore this warning if you rely on prefix matching")
+        leftover_outputs = setdiff(full.y, z1 == (:) ? y1 : [y1; z1])
+        isempty(leftover_outputs) || @warn("The following outputs were unconnected $leftover_outputs, ignore this warning if you rely on prefix matching")
+    end
+
+
+    z2 = []
+    w2 = []
+
+    # Connections
+    y2 = (:)
+    u2 = (:)
+
+    fb = named_ss(ss(I(length(y1)), full.timeevol))
+    G = feedback(full, fb; z1, z2, w1, w2, u1, u2, y1, y2, pos_feedback=true, kwargs...)
+end
+
+
 """
     connect(systems, connections; w1, z1 = (:), verbose = true, kwargs...)
 
-Create complicated feedback interconnection. 
+Create block connections using named inputs and outputs.
 
 Addition and subtraction nodes are achieved by creating a linear combination node, i.e., a system with a `D` matrix only.
 
 # Arguments:
 - `systems`: A vector of named systems to be connected
-- `connections`: a vector of pairs indicating output => input mappings. Each pair in this vector maps an output to an input. Each output must appear as an output in one of `systems`, and similarly each input must appear as an input in one of `systems`. All outputs must have unique names, but an input may have the same name as an output, this is used below where several connections look like this `:uP => :uP` since `:uP` is the output of the `addP` block but also the input of `P`.
-- `w1`: external signals that appear as inputs in the constructed system, `:uF` in the example below, use `(:)` to indicate all signals
-- `z1`: outputs of the constructed system(can overlap with `y1`), use `(:)` to indicate all signals
+- `connections`: a vector of pairs output => input, where each pair maps an output to an input. Each output must appear as an output in one of `systems`, and similarly each input must appear as an input in one of `systems`. All inputs must have unique names and so must all outputs, but an input may have the same name as an output. In the example below the connection `:uP => :uP` connects the output `:uP` of the `addP` block to `P`'s input `:uP`
+- `w1`: external signals to be used as inputs in the constructed system. Use `(:)` to indicate all signals
+- `z1`: outputs of the constructed system. Use `(:)` to indicate all signals
 - `verbose`: Issue warnings for signals that have no connection
 
 Note: Positive feedback is used, controllers that are intended to be connected with negative feedback must thus be negated.
@@ -401,15 +428,15 @@ The following complicated feedback interconnection
 
 ```
                  yF
-              ┌────────────────────────────────┐
-              │                                │
-    ┌───────┐ │  ┌───────┐ yR   ┌─────────┐    │    ┌───────┐
-uF  │       │ │  │       ├──────►         │ yC │  uP│       │    yP
-────►   F   ├─┴──►   R   │      │    C    ├────+────►   P   ├────┬────►
-    │       │    │       │   ┌──►         │         │       │    │
-    └───────┘    └───────┘   │  └─────────┘         └───────┘    │
-                             │                                   │
-                             └───────────────────────────────────┘
+               ┌────────────────────────────────┐
+               │                                │
+    ┌───────┐  │  ┌───────┐        ┌───────┐    │    ┌───────┐
+uF  │       │  │  │       | yR     │       │ yC │ uP │       │   yP
+────►   F   ├──┴──►   R   │────+───►   C   ├────+────►   P   ├───┬────►
+    │       │     │       │    │   │       │         │       │   │
+    └───────┘     └───────┘    │   └───────┘         └───────┘   │
+                               │                                 │
+                               └─────────────────────────────────┘
 ```
 can be created by
 ```
@@ -437,32 +464,6 @@ G = connect([F, R, C, P, addP, addC], connections; w1)
 
 If an external input is to be connected to multiple points, use a `splitter` to split up the signal into a set of unique names which are then used in the connections.
 """
-function connect(systems; u1::Vector{Symbol}, y1::Vector{Symbol}, w1, z1 = (:), verbose = true, kwargs...)
-    full = append(systems...)
-    @assert length(y1) == length(u1)
-    @check_unique u1 "Connected inputs not unique. If you want to connect several signals to the same input, use a summation node, e.g., named_ss(ss([1  1]), u=[:u1, :u2], y=:usum)"
-    @check_unique full.u "system inputs"
-    @check_unique full.y "system outputs"
-
-    if verbose
-        leftover_inputs = setdiff(full.u, [u1; w1])
-        isempty(leftover_inputs) || @warn("The following inputs were unconnected $leftover_inputs, ignore this warning if you rely on prefix matching")
-        leftover_outputs = setdiff(full.y, z1 == (:) ? y1 : [y1; z1])
-        isempty(leftover_outputs) || @warn("The following outputs were unconnected $leftover_outputs, ignore this warning if you rely on prefix matching")
-    end
-
-
-    z2 = []
-    w2 = []
-
-    # Connections
-    y2 = (:)
-    u2 = (:)
-
-    fb = named_ss(ss(I(length(y1)), full.timeevol))
-    G = feedback(full, fb; z1, z2, w1, w2, u1, u2, y1, y2, pos_feedback=true, kwargs...)
-end
-
 function connect(systems, pairs::AbstractVector{<:Pair}; kwargs...)
     connect(systems; u1 = last.(pairs), y1 = first.(pairs), kwargs...)
 end