Simulator for dynamical feedback systems and networks.
Project description
A general purpose Python simulator for networks of systems with the dynamics \(\dot{\boldsymbol{x}}_i=\boldsymbol{f}_i(\boldsymbol{x}_i,\boldsymbol{u}_i,t)\) and the output \(\boldsymbol{y}_i=\boldsymbol{h}_i(\boldsymbol{x}_i,t)\).
This package is compatible with Python 3 and requires numpy for matrix and vector operations, sympy for symbolic derivations, and scipy for ODE integration.
Though not required, it is recommended to use this simulator in a jupyter notebook. Any library can be used to generate graphs, but the provided examples rely on plotly to generate interactive plots.
Examples and usage instructions are given in this repository.
This package was developed to generate simulation results in the MSc thesis entitled Distributed Control of Underactuated and Heterogeneous Mechanical Systems which can be viewed here.
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