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Nonlinear Algebraic Approximation in Control systems

Project description

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 equation 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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