modified: CHANGELOG.md

	modified:   Project.toml
	modified:   src/AutomationLabsSystems.jl
	modified:   src/main/main_systems.jl
	modified:   test/runtests.jl
	new file:   test/system_discretization_test.jl

CHANGELOG.md

@@ -1,5 +1,10 @@
 # AutomationLabsSystems Changelog
 
+## v0.1.2
+
+* Add continuous linear system discretization function.
+* Improve tests.
+
 ## v0.1.1
 
 * Add system linearization.

Project.toml

@@ -1,10 +1,11 @@
 name = "AutomationLabsSystems"
 uuid = "6d3dfdf0-e107-48c6-a6ff-eced1a5a9334"
 authors = ["Pierre BLAUD <pierre.blaud@ikmail.com> and contributors"]
-version = "0.1.1"
+version = "0.1.2"
 
 [deps]
 AutomationLabsIdentification = "48ff5a6f-d08b-4053-9585-6a9e3e078386"
+ControlSystems = "a6e380b2-a6ca-5380-bf3e-84a91bcd477e"
 Flux = "587475ba-b771-5e3f-ad9e-33799f191a9c"
 ForwardDiff = "f6369f11-7733-5829-9624-2563aa707210"
 LazySets = "b4f0291d-fe17-52bc-9479-3d1a343d9043"
@@ -22,6 +23,7 @@ MLJ = "0.19"
 MLJMultivariateStatsInterface = "0.5"
 MathematicalSystems = "0.13"
 NNlib = "0.8"
+ControlSystems = "1.6"
 julia = "1"
 
 [extras]

src/AutomationLabsSystems.jl

@@ -16,11 +16,12 @@ import LazySets
 import Flux
 import ForwardDiff
 import NNlib
+import ControlSystems
 
 export proceed_system
 export proceed_system_linearization
 
-#export proceed_system_discretization 
+export proceed_system_discretization 
 export proceed_system_model_evaluation
 
 # Load files

src/main/main_systems.jl

@@ -11,6 +11,7 @@
 A function for system creation.
 
 The following variables are mendatories:
+* `model_method`: a String for continous or discrete system.
 * `model_origin`: a String for origin of the model.
 
 It is possible to define optional variables kws.
@@ -129,7 +130,7 @@ function proceed_system(model_method, model_origin; kws_...)
 end
 
 """
-    system_linearization
+    proceed_system_linearization
 Function that linearises a system from MathematicalSystems at state and input references. 
 The function uses ForwardDiff package and the jacobian function.
 
@@ -179,10 +180,13 @@ function proceed_system_linearization(system::MathematicalSystems.ConstrainedLin
 end
 
 
-# to continuous system to discrete system
-
+"""
+    proceed_system_model_evaluation
+Function that return the types of the model inside the systems from AutomationLabsIdentification.
 
-# Extract model from a system from identification and user function
+** Required fields **
+* `system`: the mathematital system that as in it the julia non-linear function `f` from AutomationLabsIdentification.
+"""
 function proceed_system_model_evaluation(system::MathematicalSystems.ConstrainedBlackBoxControlDiscreteSystem)
 
     if typeof(system.f) == Flux.Chain{Tuple{Flux.Dense{typeof(identity), Matrix{Float32}, Bool}, Flux.Chain{NTuple{4, Flux.Dense{typeof(NNlib.relu), Matrix{Float32}, Vector{Float32}}}}, Flux.Dense{typeof(identity), Matrix{Float32}, Bool}}}
@@ -205,6 +209,26 @@ function proceed_system_model_evaluation(system::MathematicalSystems.Constrained
 
     end
 
-
     return model_type 
+end
+
+"""
+    proceed_system_discretization
+Function that linearises a system from MathematicalSystems at state and input references. 
+The function uses ForwardDiff package and the jacobian function.
+
+** Required fields **
+* `system`: the continuous mathematital system that as in it the julia linear or non-linear function `f`.
+* `sample_time`: the sample time for discretization.
+"""
+function proceed_system_discretization(system::MathematicalSystems.ConstrainedLinearControlContinuousSystem, sample_time)
+
+    D = 0
+    C = ones(size(system.A, 1), size(system.A, 2)) 
+    sys_c = ControlSystems.ss(system.A, system.B, C, D)
+    sys_d = ControlSystems.c2d(sys_c, sample_time)
+    A_sys = sys_d.A
+    B_sys = sys_d.B 
+
+    return MathematicalSystems.@system x⁺ = A_sys*x + B_sys*u x∈system.X u∈system.U
 end

test/runtests.jl

@@ -15,3 +15,7 @@ print("Testing AutomationLabsSystems sub functions...")
 took_seconds = @elapsed include("./system_linearization_test.jl");
 println("done (took ", took_seconds, " seconds)")
 
+
+print("Testing AutomationLabsSystems sub functions...")
+took_seconds = @elapsed include("./system_discretization_test.jl");
+println("done (took ", took_seconds, " seconds)")

test/system_discretization_test.jl

@@ -0,0 +1,50 @@
+# Copyright (c) 2022: Pierre Blaud and contributors
+########################################################
+# This Source Code Form is subject to the terms of the #
+# Mozilla Public License, v. 2.0. If a copy of the MPL #
+# was not distributed with this file,  				   #
+# You can obtain one at https://mozilla.org/MPL/2.0/.  #
+########################################################
+module SystemsLinearizationTest
+
+using Test
+using AutomationLabsSystems
+using AutomationLabsIdentification
+using MathematicalSystems
+using LazySets
+using MLJ
+using Flux
+
+@testset "Discretize a linear continuous system" begin
+
+    model_origin = "user"
+    A = [1 1; 0 0.9]
+    B = [1; 0.5]
+    nbr_state = 2
+    nbr_input = 1
+
+    x_cons = [-5.0 5.0;
+              -5.0 5.0]
+
+    u_cons = [-1.0 1.0]
+
+    sys_c = proceed_system("continuous", model_origin; 
+                            A = A, 
+                            B = B, 
+                            input_constraint = u_cons,
+                            state_constraint = x_cons)
+
+    sample_time = 5.0
+    sys_d = proceed_system_discretization(sys_c, sample_time)
+
+    @test typeof(sys_c) == ConstrainedLinearControlContinuousSystem{Float64, Matrix{Float64}, Matrix{Float64}, Hyperrectangle{Float64, Vector{Float64}, Vector{Float64}}, Hyperrectangle{Float64, Vector{Float64}, Vector{Float64}}}
+    @test typeof(sys_d) == ConstrainedLinearControlDiscreteSystem{Float64, Matrix{Float64}, Matrix{Float64}, Hyperrectangle{Float64, Vector{Float64}, Vector{Float64}}, Hyperrectangle{Float64, Vector{Float64}, Vector{Float64}}}
+
+    @test sys_c.A != sys_d.A 
+    @test sys_c.B != sys_d.B
+    @test sys_c.X == sys_d.X 
+    @test sys_c.U == sys_d.U
+
+end
+
+end