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repagh merged 13 commits into from
May 11, 2020
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Add sb10fd #118

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f528c17
add sb10fd, an alternative routine for H-infinity control
repagh May 5, 2020
ec69a7a
add failing test case from python-control issue #367
repagh May 5, 2020
8bdb769
adapt testing and doc for sb10fd to new structure
repagh May 11, 2020
3955b01
Update slycot/synthesis.py
repagh May 11, 2020
7c087dc
Update slycot/synthesis.py
repagh May 11, 2020
88be4c8
Update slycot/synthesis.py
repagh May 11, 2020
825a84a
Update slycot/synthesis.py
repagh May 11, 2020
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Update slycot/synthesis.py
repagh May 11, 2020
4443cc9
Update slycot/tests/test_sb.py
repagh May 11, 2020
79cb1c0
Update slycot/synthesis.py
repagh May 11, 2020
055c463
some final tweaks to docstring
repagh May 11, 2020
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Apply suggestions from code review
repagh May 11, 2020
d546be0
Update slycot/__init__.py [skip ci]
repagh May 11, 2020
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Update slycot/synthesis.py 
Co-authored-by: Ben Greiner <[email protected]>
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@repagh @bnavigator
repagh and bnavigator authored May 11, 2020
commit 79cb1c0bc8db5a22bed603c989c1497a9312cae3
30 changes: 30 additions & 0 deletions slycot/synthesis.py
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Expand Up @@ -2625,6 +2625,36 @@ def sb10fd(n,m,np,ncon,nmeas,gamma,A,B,C,D,tol=0.0,ldwork=None):
there are numerical difficulties)
:info = 9:
The determinant of ``Im2 + Tu*D11HAT*Ty*D22`` is zero
[3]_.

Notes
-----
Method
The routine implements the Glover's and Doyle's 1988 formulas [1]_,
[2]_ modified to improve the efficiency as described in [3]_.
Numerical Aspects
The accuracy of the result depends on the condition numbers of the
input and output transformations and on the condition numbers of
the two Riccati equations, as given by the values of RCOND(1),
RCOND(2), RCOND(3) and RCOND(4), respectively.

References
----------
.. [1] Glover, K. and Doyle, J.C.,
State-space formulae for all stabilizing controllers that
satisfy an Hinf norm bound and relations to risk sensitivity.
Systems and Control Letters, vol. 11, pp. 167-172, 1988.

.. [2] Balas, G.J., Doyle, J.C., Glover, K., Packard, A., and
Smith, R.,
mu-Analysis and Synthesis Toolbox.
The MathWorks Inc., Natick, Mass., 1995.

.. [3] Petkov, P.Hr., Gu, D.W., and Konstantinov, M.M.,
Fortran 77 routines for Hinf and H2 design of continuous-time
linear control systems.
Rep. 98-14, Department of Engineering, Leicester University,
Leicester, U.K., 1998.
"""
hidden = ' (hidden by the wrapper)'
arg_list = ('n', 'm', 'np', 'ncon', 'nmeas', 'gamma',
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