mypy: An Useful Toolbox for Control Engineers

Overview

mypy is an useful toolbox for control engineers. It can be used for a wide range of purposes: to identify a system transfer functions, to optimize a trajectory plan, to automatically design good FB controllers, ..., and so on.

Requirements

Python 3.5+.
numpy, scipy, and sympy (all included in anaconda)
mycvxopt requires cvxopt.

Install

Just append mypy to your PYTHONPATH, or

import sys
sys.path.append(r"/home/me/mypy")

Documentation

Read pdfs in doc/

Examples

Optimized Multisine: better S/N-ratio excitation

optimized_multisine

Optimized Multisine.

FFT_of_optimized_multisine

FFT of Optimized Multisine.

System Identification: linear least squares, iterative weighted linear least squares, nonlinear least squares, and maximum likelihood estimation solution.

Bodeplot

FRF.

System_Identification_from_10_Hz_to_500_Hz

System Identification Results.

Trajectory Planning: B-spline trajectory of jerk 2/infinity-norm minimization with constraints (Red: infinity-norm minimization, Blue: 2-norm minimization)

vel acc jer snap

Feedback Controller Design: Exploiting FRF results, find a linear FB controller that satisfies desired (given) linear constraints for all plant perturbations, i.e. (1) Gain-Crossover Linear Inequalities, (2) Phase Margin Linear Inequalities, (3) Gain Margin Linear Inequalities, (4) Second Phase Margin Linear Inequalities, (5) Gain Minimum/Maximum Linear Inequalities, (6) Stability Margin (Disk) Concave Inequalities via CCCP method, (7) Robust Stability Quadratic Inequalities (using socp or sdp), (8) Nominal Performance (Disk) Concave Inequalities via CCCP method. Default Controller: PIDs + 10 FIRs (13 variables).

plant

Plant FRF.

nyquist e_nyquist

Nyquist Plot of Optimized Open-Loop FRF.

sensitivity

Sensitivity.

Copyright and License

2017-, Shimoda Takaki, The University of Tokyo

mypy is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 3 of the License, or (at your option) any later version.

mypy is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

shimodatakaki / mypy

readme