modified: CHANGELOG.md

	modified:   src/main/main_systems.jl
	modified:   src/sub/design_systems.jl
	modified:   test/systems_test.jl

CHANGELOG.md

@@ -2,7 +2,8 @@
 
 ## v0.1.4
 
-* Modification of proceed_system for linear and non-linear model. 
+* Modification of proceed_system (linear and non-linear model). 
+* Add system without constraints (linear and non-linear model). 
 * Improve tests.
 
 ## v0.1.3

src/main/main_systems.jl

@@ -44,8 +44,7 @@ function proceed_system(A, B, nbr_state, nbr_input, variation; kws_...)
 
     elseif haskey(kws, :input_constraint) == false &&
            haskey(kws, :state_constraint) == false
-        # Issues
-        @error "There are no input nor state constraints, at least input constaint is mandatory"
+        return system = _controller_system_design(model)
     else
         # Issues
         @error "There are no input nor state constraints, at least input constaint is mandatory"
@@ -89,8 +88,7 @@ function proceed_system(f, nbr_state, nbr_input, variation; kws_...)
 
     elseif haskey(kws, :input_constraint) == false &&
            haskey(kws, :state_constraint) == false
-        # Issues
-        @error "There are no input nor state constraints, at least input constraint is mandatory"
+        return system = _controller_system_design(model)
     else
         # Issues
         @error "There are no input nor state constraints, at least input constraint is mandatory"
@@ -107,6 +105,36 @@ The function uses ForwardDiff package and the jacobian function.
 * `state`: references state point.
 * `input`: references input point.
 """
+function proceed_system_linearization(
+    system::MathematicalSystems.BlackBoxControlContinuousSystem,
+    state::Vector{Float64},
+    input::Vector{Float64},
+)
+
+    #Linearization to get A and B at references values (state and input)
+    VectorXU = vcat(state, input)
+    JacobianMatrix = ForwardDiff.jacobian(system.f, VectorXU)
+    A_sys = JacobianMatrix[1:system.statedim, 1:system.statedim]
+    B_sys = JacobianMatrix[1:system.statedim, system.statedim+1:end]
+
+    return MathematicalSystems.@system x' = A_sys * x + B_sys * u 
+end
+
+function proceed_system_linearization(
+    system::MathematicalSystems.BlackBoxControlDiscreteSystem,
+    state::Vector{Float64},
+    input::Vector{Float64},
+)
+
+    #Linearization to get A and B at references values (state and input)
+    VectorXU = vcat(state, input)
+    JacobianMatrix = ForwardDiff.jacobian(system.f, VectorXU)
+    A_sys = JacobianMatrix[1:system.statedim, 1:system.statedim]
+    B_sys = JacobianMatrix[1:system.statedim, system.statedim+1:end]
+
+    return MathematicalSystems.@system x' = A_sys * x + B_sys * u 
+end
+
 function proceed_system_linearization(
     system::MathematicalSystems.ConstrainedBlackBoxControlContinuousSystem,
     state::Vector{Float64},

src/sub/design_systems.jl

@@ -6,6 +6,20 @@
 # You can obtain one at https://mozilla.org/MPL/2.0/.  #
 ########################################################
 
+"""
+_controller_system_design
+A function for design the system (model and constraints) with MathematicalSystems from non linear model.
+"""
+function _controller_system_design(model::DiscreteNonLinearModel)
+
+    # Set the system
+    return MathematicalSystems.BlackBoxControlDiscreteSystem(
+        model.f,
+        model.nbr_state,
+        model.nbr_input,
+    )
+end
+
 """
 _controller_system_design
 A function for design the system (model and constraints) with MathematicalSystems from non linear model.
@@ -72,6 +86,16 @@ function _controller_system_design(
     )
 end
 
+"""
+_controller_system_design
+A function for design the system (model and constraints) with MathematicalSystems from linear model.
+"""
+function _controller_system_design(model::DiscreteLinearModel)
+
+    # Set the system
+    return MathematicalSystems.@system x⁺ = model.A * x + model.B * u
+end
+
 """
 _controller_system_design
 A function for design the system (model and constraints) with MathematicalSystems from linear model.
@@ -127,6 +151,20 @@ function _controller_system_design(
     #MathematicalSystems.ConstrainedLinearControlDiscreteSystem(model.A, model.B, X, U)
 end
 
+"""
+_controller_system_design
+A function for design the system (model and constraints) with MathematicalSystems from non linear model.
+"""
+function _controller_system_design(model::ContinuousNonLinearModel)
+
+    # Set the system
+    return MathematicalSystems.BlackBoxControlContinuousSystem(
+        model.f,
+        model.nbr_state,
+        model.nbr_input,
+    )
+end
+
 """
 _controller_system_design
 A function for design the system (model and constraints) with MathematicalSystems from non linear model.
@@ -193,6 +231,16 @@ function _controller_system_design(
     )
 end
 
+"""
+_controller_system_design
+A function for design the system (model and constraints) with MathematicalSystems from linear model.
+"""
+function _controller_system_design(model::ContinuousLinearModel)
+
+    # Set the system
+    return MathematicalSystems.@system x' = model.A * x + model.B * u 
+end
+
 """
 _controller_system_design
 A function for design the system (model and constraints) with MathematicalSystems from linear model.

test/systems_test.jl

@@ -93,6 +93,35 @@ end
     @test LazySets.high(sys.U) == [1.0]
 end
 
+@testset "Linear user system without constraints" begin
+
+    A = [
+        1 1
+        0 0.9
+    ]
+    B = [1; 0.5]
+
+    nbr_state = 2
+    nbr_input = 1
+
+    sys = proceed_system(
+        A,
+        B, 
+        nbr_state,
+        nbr_input,
+        "discrete";
+    )
+
+    @test typeof(sys) == LinearControlDiscreteSystem{
+        Float64,
+        Matrix{Float64},
+        Matrix{Float64},
+    }
+
+    @test sys.A == A
+    @test sys.B == [1.0; 0.5;;]
+end
+
 @testset "Non linear user system with input and state constraints" begin
 
     model_origin = "user"
@@ -159,6 +188,30 @@ end
     @test LazySets.high(sys.U) == [1.0]
 end
 
+@testset "Non linear user system without constraints" begin
+
+    f = function in(x)
+        cos(x)
+    end
+
+    nbr_state = 1
+    nbr_input = 1
+
+    sys = proceed_system(
+        f,
+        nbr_state,
+        nbr_input,
+        "discrete";
+    )
+
+    @test typeof(sys) == BlackBoxControlDiscreteSystem{
+        typeof(in),
+    }
+
+    @test sys.f == f
+
+end
+
 ### Continuous ### 
 
 @testset "Linear user system with state and input constraints" begin
@@ -237,6 +290,35 @@ end
     @test LazySets.high(sys.U) == [1.0]
 end
 
+@testset "Linear user system continuous without constraints" begin
+
+    A = [
+        1 1
+        0 0.9
+    ]
+    B = [1; 0.5]
+    nbr_state = 2
+    nbr_input = 1
+
+
+    sys = proceed_system(
+        A,
+        B, 
+        nbr_state,
+        nbr_input,
+        "continuous";
+    )
+
+    @test typeof(sys) == LinearControlContinuousSystem{
+        Float64,
+        Matrix{Float64},
+        Matrix{Float64},
+    }
+
+    @test sys.A == A
+    @test sys.B == [1.0; 0.5;;]
+end
+
 @testset "Non linear user system with input and state constraints" begin
 
     model_origin = "user"
@@ -303,6 +385,29 @@ end
     @test LazySets.high(sys.U) == [1.0]
 end
 
+@testset "Non linear user system without constraints" begin
+
+    f = function in(x)
+        cos(x)
+    end
+
+    nbr_state = 1
+    nbr_input = 1
+
+    sys = proceed_system(
+        f,
+        nbr_state,
+        nbr_input,
+        "continuous",    
+    )
+
+    @test typeof(sys) == BlackBoxControlContinuousSystem{
+        typeof(in),
+    }
+
+    @test sys.f == f
+end
+
 ### Model from identification ###
 # Not yet necessarely #