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Nonlinear Algebraic Approximation in Control systems

# Nonlinear Algebraic Approximation of Control Systems

A Python implementation of an algorithm for construction homogeneous approximations of nonlinear control systems. For description of the algoritm refer to ...

## Installation

You can install the package using pip

``````pip install napalm-control
``````

## How to use

The main part of the package is implemented in a single class called ControlSystem. This class describes a control system and its methods implement the algorithm of approximation of given system.

```from napalm_control.approximation_tools import ControlSystem
```

Given a system you can initialize it the following way

```system = ControlSystem(a, b)
```

where a and b are corresponding vectors.

Note: the vectors must be composed out of sympy symbols or numbers. For example, consider a system:

Then the implementation using the package would be as follows:

```import sympy as sym
from napalm_control.approximation_tools import ControlSystem

x1, t = sym.symbols('x_1 t')
a = sym.Matrix([0, -sym.Rational(1, 2)*x1**2 - 4*t*x1 - 3*t**2*x1, -x1**2 - 2*t*x1 - 3*t**2*x1])
b = sym.Matrix([-1, 0, 0])
system = ControlSystem(a, b)
```