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set abs and rel tols in simulate... #54

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Jun 1, 2024
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set abs and rel tols in simulate... #54

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14 changes: 7 additions & 7 deletions Project.toml
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
name = "Controlz"
uuid = "e034abe6-471a-4d54-96dd-ecd1f4022419"
authors = ["SimonEnsemble <[email protected]>"]
version = "0.3.5"
version = "0.3.6"

[deps]
DifferentialEquations = "0c46a032-eb83-5123-abaf-570d42b7fbaa"
Expand All @@ -15,13 +15,13 @@ ColorSchemes = "35d6a980-a343-548e-a6ea-1d62b119f2f4"
Colors = "5ae59095-9a9b-59fe-a467-6f913c188581"

[compat]
DifferentialEquations = "^7.12.0"
DataFrames = "^1.6.1"
Interpolations = "^0.14.7"
Polynomials = "^4.0.6"
DifferentialEquations = "^7.13.0"
DataFrames = "^1.7"
Interpolations = "^0.15.1"
Polynomials = "^4.0.9"
julia = "^1.10"
Roots = "^2.1.2"
CairoMakie = "^0.11.8"
Roots = "^2.1.6"
CairoMakie = "^0.12.2"
ColorSchemes = "^3.24.0"
Colors = "^0.12.10"

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4 changes: 2 additions & 2 deletions src/closed_loops.jl
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Expand Up @@ -130,7 +130,7 @@ function tf_to_ss(cl::CLTFStandard)
end

# see sim.jl for doc string
function simulate(cl::ClosedLoopTransferFunction, final_time::Float64; nb_time_points::Int=100)
function simulate(cl::ClosedLoopTransferFunction, final_time::Float64; nb_time_points::Int=250)
cls = CLTFStandard(cl)

if ! strictly_proper(cls)
Expand All @@ -145,7 +145,7 @@ function simulate(cl::ClosedLoopTransferFunction, final_time::Float64; nb_time_p
h(p, t) = zeros(order(cls))
f(x, h, p, t) = A * x - C * h(p, t - cls.ϕ) # RHS of ODE (ignore p for params)
prob = DDEProblem(f, x0, h, (0.0, final_time))
sol = solve(prob, d_discontinuities=[0.0, cls.ϕ, cls.θ, cls.θ + cls.ϕ])
sol = solve(prob, d_discontinuities=[0.0, cls.ϕ, cls.θ, cls.θ + cls.ϕ], abstol=1e-8, reltol=1e-8)

t = vcat([-0.05 * final_time, -1e-5],
range(1e-5, final_time, length=nb_time_points - 2))
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6 changes: 3 additions & 3 deletions src/sim.jl
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Expand Up @@ -50,7 +50,7 @@ end


@doc raw"""
data = simulate(Y, final_time, nb_time_points=100) # invert Y(s)
data = simulate(Y, final_time, nb_time_points=250) # invert Y(s)

simulate the output $y(t)$ of an LTI system, given the Laplace transform of the output, $Y(s)$, `Y`.

Expand Down Expand Up @@ -89,7 +89,7 @@ first(data, 5) # show the first 5 rows of the data frame
5 │ 0.247432 0.316671
```
"""
function simulate(Y::TransferFunction, final_time::Union{Float64, Int64}; nb_time_points::Int=100)
function simulate(Y::TransferFunction, final_time::Union{Float64, Int64}; nb_time_points::Int=250)
if ! proper(Y)
error("LTI system is not proper...")
end
Expand All @@ -105,7 +105,7 @@ function simulate(Y::TransferFunction, final_time::Union{Float64, Int64}; nb_tim

f(x, p, t) = A * x # RHS of ODE (ignore p for params)
prob = ODEProblem(f, x0, (0.0, 1.0 * final_time))
sol = solve(prob, d_discontinuities=[0.0])
sol = solve(prob, Tsit5(), d_discontinuities=[0.0], saveat=final_time / nb_time_points, reltol=1e-8, abstol=1e-8)

t = vcat([-0.05 * final_time, -1e-5], range(1e-5, final_time, length=nb_time_points - 2))
y = [NaN for i = 1:nb_time_points]
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22 changes: 11 additions & 11 deletions test/runtests.jl
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Expand Up @@ -279,9 +279,9 @@ end
# L[cos(at)] = s/(s^2+a^2)
a = 2.3
U = s / (s^2+a^2)
u_data = simulate(U, 12.0)
u_data = simulate(U, 12.0, nb_time_points=500)
_cosat(t::Float64) = t < 0.0 ? 0.0 : cos(a*t)
@test isapprox(u_data[:, :output], _cosat.(u_data[:, :t]), rtol=0.001)
@test isapprox(u_data[:, :output], _cosat.(u_data[:, :t]), rtol=0.005)
# L[shifted step] = e^{-a*s}/s
U = exp(-a*s) / s
u_data = simulate(U, 12.0)
Expand Down Expand Up @@ -313,7 +313,7 @@ end
data = simulate(g, 12.0)
y_truth = K / τ * exp.(-data[:, :t]/τ)
y_truth[data[:, :t] .< 0.0] .= 0.0
@test isapprox(y_truth, data[:, :output], rtol=0.0001)
@test isapprox(y_truth, data[:, :output], rtol=0.005)

# first order ramp input
a = 2.0 # slope of ramp
Expand All @@ -332,7 +332,7 @@ end
y_truth = τ * ω / (1 + (τ*ω)^2) * exp.(-data[:, :t] ./ τ) .+ 1 / sqrt(1+(τ*ω)^2) * sin.(ω*data[:, :t] .+ ϕ)
y_truth *= K * A
y_truth[data[:, :t] .< 0.0] .= 0.0
@test isapprox(y_truth, data[:, :output], rtol=0.001)
@test isapprox(y_truth, data[:, :output], rtol=0.005)

# FOPTD
M = 3.3
Expand All @@ -341,10 +341,10 @@ end
K = 9.0
g = K / (τ * s + 1) * exp(-θ * s)
u = M / s
data = simulate(g * u, 10.0)
data = simulate(g * u, 10.0, nb_time_points=1000)
y_truth = K * M * (1.0 .- exp.(-(data[:, :t] .- θ) ./ τ))
y_truth[data[:, :t] .< θ] .= 0.0
@test isapprox(y_truth, data[:, :output], atol=0.001)
@test isapprox(y_truth, data[:, :output], atol=0.005)

##
# second order, overdamped
Expand Down Expand Up @@ -401,8 +401,8 @@ end
@test isapprox(interpolate(data, 1.2), 1.2*5)
τ = 3.45
g = 1 / (τ * s + 1)
data = simulate(g / s, 10.0)
@test isapprox(interpolate(data, τ), 0.632, atol=0.002)
data = simulate(g / s, 10.0, nb_time_points=300)
@test isapprox(interpolate(data, τ), 1.0 - exp(-1.0), atol=0.002)
end

@testset "testing Controls" begin
Expand Down Expand Up @@ -467,9 +467,9 @@ end
# run without a time delay to compare to other simulate function.
gp = 3 / (s + 2)
gc = TransferFunction(PIController(1.0, 3.0))
data_old = simulate(gp * gc / (1 + gp * gc), 10.0)
data_new = simulate(ClosedLoopTransferFunction(gp * gc, gp * gc), 10.0)
@test isapprox(data_old[:, :output], data_new[:, :output], atol=0.0001)
data_old = simulate(gp * gc / (1 + gp * gc), 10.0, nb_time_points=1000)
data_new = simulate(ClosedLoopTransferFunction(gp * gc, gp * gc), 10.0, nb_time_points=1000)
@test isapprox(data_old[:, :output], data_new[:, :output], atol=0.005)
end

@testset "example notebook (also to generate images for docs)" begin
Expand Down
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