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 ...
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)
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