{ "cells": [ { "cell_type": "markdown", "metadata": {}, "source": [ "## Example with a SISO (Single Input Single Output) Pulley system\n", "\n", "In this example we consider the three-pulley \n", "system analyzed in the original VRFT paper:\n", "\n", "\"Virtual reference feedback tuning: a direct method for the design offeedback controllers\"\n", "-- Campi et al. 2003" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Import the libraries" ] }, { "cell_type": "code", "execution_count": 1, "metadata": {}, "outputs": [], "source": [ "import numpy as np\n", "import scipy.signal as scipysig\n", "import cvxpy as cp\n", "import matplotlib.pyplot as plt\n", "\n", "from typing import List\n", "from cvxpy.expressions.expression import Expression\n", "from cvxpy.constraints.constraint import Constraint\n", "from pydeepc import DeePC\n", "from pydeepc.utils import Data\n", "from utils import System\n", "\n", "### To ignore warnings about cp.ECOS not being available\n", "import warnings\n", "warnings.simplefilter(action='ignore', category=FutureWarning)\n", "warnings.simplefilter(action='ignore', category=UserWarning)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Define the loss callack for DeePC and the constraints" ] }, { "cell_type": "code", "execution_count": 2, "metadata": {}, "outputs": [], "source": [ "\n", "# Define the loss function for DeePC\n", "def loss_callback(u: cp.Variable, y: cp.Variable) -> Expression:\n", " horizon, M, P = u.shape[0], u.shape[1], y.shape[1]\n", " # Sum_t ||y_t - 1||^2\n", " return 1e3 * cp.norm(y-1,'fro')**2 + 1e-1 * cp.norm(u, 'fro')**2\n", "\n", "# Define the constraints for DeePC\n", "def constraints_callback(u: cp.Variable, y: cp.Variable) -> List[Constraint]:\n", " horizon, M, P = u.shape[0], u.shape[1], y.shape[1]\n", " # Define a list of input/output constraints (no constraints here)\n", " return []" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Define parameters and simulate DeePC" ] }, { "cell_type": "code", "execution_count": 3, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Simulating with 50 initial samples...\n", "Simulating with 500 initial samples...\n" ] }, { "data": { "image/png": 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"text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "\n", "# DeePC paramters\n", "s = 1 # How many steps before we solve again the DeePC problem\n", "T_INI = 4 # Size of the initial set of data\n", "T_list = [50, 500] # Number of data points used to estimate the system\n", "HORIZON = 10 # Horizon length\n", "LAMBDA_G_REGULARIZER = 1 # g regularizer (see DeePC paper, eq. 8)\n", "LAMBDA_Y_REGULARIZER = 1 # y regularizer (see DeePC paper, eq. 8)\n", "LAMBDA_U_REGULARIZER = 0 # u regularizer\n", "EXPERIMENT_HORIZON = 100 # Total number of steps\n", "\n", "# Plant\n", "# In this example we consider the three-pulley \n", "# system analyzed in the original VRFT paper:\n", "# \n", "# \"Virtual reference feedback tuning: \n", "# a direct method for the design offeedback controllers\"\n", "# -- Campi et al. 2003\n", "\n", "dt = 0.05\n", "num = [0.28261, 0.50666]\n", "den = [1, -1.41833, 1.58939, -1.31608, 0.88642]\n", "sys = System(scipysig.TransferFunction(num, den, dt=dt).to_ss(), noise_std=1e-2)\n", "\n", "fig, ax = plt.subplots(1, 2, figsize=(10,4))\n", "plt.margins(x=0, y=0)\n", "\n", "\n", "# Simulate for different values of T\n", "for T in T_list:\n", " print(f'Simulating with {T} initial samples...')\n", " sys.reset()\n", " # Generate initial data and initialize DeePC\n", " data = sys.apply_input(u = np.random.normal(size=T).reshape((T, 1)))\n", " deepc = DeePC(data, Tini = T_INI, horizon = HORIZON)\n", "\n", " # Create initial data\n", " data_ini = Data(u = np.zeros((T_INI, 1)), y = np.zeros((T_INI, 1)))\n", " sys.reset(data_ini = data_ini)\n", "\n", " deepc.build_problem(\n", " build_loss = loss_callback,\n", " build_constraints = constraints_callback,\n", " lambda_g = LAMBDA_G_REGULARIZER,\n", " lambda_y = LAMBDA_Y_REGULARIZER,\n", " lambda_u = LAMBDA_U_REGULARIZER)\n", "\n", " for idx in range(EXPERIMENT_HORIZON // s):\n", " # Solve DeePC\n", " u_optimal, info = deepc.solve(data_ini = data_ini, warm_start=True, solver=cp.ECOS)\n", "\n", "\n", " # Apply optimal control input\n", " _ = sys.apply_input(u = u_optimal[:s, :])\n", "\n", " # Fetch last T_INI samples\n", " data_ini = sys.get_last_n_samples(T_INI)\n", "\n", " # Plot curve\n", " data = sys.get_all_samples()\n", " ax[0].plot(data.y[T_INI:], label=f'$s={s}, T={T}, T_i={T_INI}, N={HORIZON}$')\n", " ax[1].plot(data.u[T_INI:], label=f'$s={s}, T={T}, T_i={T_INI}, N={HORIZON}$')\n", "\n", "ax[0].set_ylim(0, 2)\n", "ax[1].set_ylim(-4, 4)\n", "ax[0].set_xlabel('t')\n", "ax[0].set_ylabel('y')\n", "ax[0].grid()\n", "ax[1].set_ylabel('u')\n", "ax[1].set_xlabel('t')\n", "ax[1].grid()\n", "ax[0].set_title('Closed loop - output signal $y_t$')\n", "ax[1].set_title('Closed loop - control signal $u_t$')\n", "ax[0].legend(fancybox=True, shadow=True)\n", "plt.show()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Example where the Hankel matrix is approximated using the explained variance" ] }, { "cell_type": "code", "execution_count": 5, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Simulating with 1000 initial samples...\n" ] }, { "data": { "image/png": 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", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "\n", "# DeePC paramters\n", "s = 1 # How many steps before we solve again the DeePC problem\n", "T_INI = 4 # Size of the initial set of data\n", "T_list = [1000] # Number of data points used to estimate the system\n", "HORIZON = 100 # Horizon length\n", "LAMBDA_G_REGULARIZER = 20 # g regularizer (see DeePC paper, eq. 8)\n", "LAMBDA_Y_REGULARIZER = 0 # y regularizer (see DeePC paper, eq. 8)\n", "LAMBDA_U_REGULARIZER = 0 # u regularizer\n", "EXPERIMENT_HORIZON = 100 # Total number of steps\n", "\n", "# Plant\n", "# In this example we consider the three-pulley \n", "# system analyzed in the original VRFT paper:\n", "# \n", "# \"Virtual reference feedback tuning: \n", "# a direct method for the design offeedback controllers\"\n", "# -- Campi et al. 2003\n", "\n", "dt = 0.05\n", "num = [0.28261, 0.50666]\n", "den = [1, -1.41833, 1.58939, -1.31608, 0.88642]\n", "sys = System(scipysig.TransferFunction(num, den, dt=dt).to_ss(), noise_std=1e-2)\n", "\n", "fig, ax = plt.subplots(1, 2, figsize=(10,4))\n", "plt.margins(x=0, y=0)\n", "\n", "\n", "# Simulate for different values of T\n", "for T in T_list:\n", " print(f'Simulating with {T} initial samples...')\n", " sys.reset()\n", " # Generate initial data and initialize DeePC\n", " data = sys.apply_input(u = np.random.normal(size=T).reshape((T, 1)))\n", " deepc = DeePC(data, Tini = T_INI, horizon = HORIZON, explained_variance = .99)\n", "\n", " # Create initial data\n", " data_ini = Data(u = np.zeros((T_INI, 1)), y = np.zeros((T_INI, 1)))\n", " sys.reset(data_ini = data_ini)\n", "\n", " deepc.build_problem(\n", " build_loss = loss_callback,\n", " build_constraints = constraints_callback,\n", " lambda_g = LAMBDA_G_REGULARIZER,\n", " lambda_y = LAMBDA_Y_REGULARIZER,\n", " lambda_u = LAMBDA_U_REGULARIZER)\n", "\n", " for idx in range(EXPERIMENT_HORIZON // s):\n", " # Solve DeePC\n", " u_optimal, info = deepc.solve(data_ini = data_ini, warm_start=True, solver=cp.ECOS)\n", "\n", "\n", " # Apply optimal control input\n", " _ = sys.apply_input(u = u_optimal[:s, :])\n", "\n", " # Fetch last T_INI samples\n", " data_ini = sys.get_last_n_samples(T_INI)\n", "\n", " # Plot curve\n", " data = sys.get_all_samples()\n", " ax[0].plot(data.y[T_INI:], label=f'$s={s}, T={T}, T_i={T_INI}, N={HORIZON}$')\n", " ax[1].plot(data.u[T_INI:], label=f'$s={s}, T={T}, T_i={T_INI}, N={HORIZON}$')\n", "\n", "ax[0].set_ylim(0, 2)\n", "ax[1].set_ylim(-4, 4)\n", "ax[0].set_xlabel('t')\n", "ax[0].set_ylabel('y')\n", "ax[0].grid()\n", "ax[1].set_ylabel('u')\n", "ax[1].set_xlabel('t')\n", "ax[1].grid()\n", "ax[0].set_title('Closed loop - output signal $y_t$')\n", "ax[1].set_title('Closed loop - control signal $u_t$')\n", "ax[0].legend(fancybox=True, shadow=True)\n", "plt.show()" ] } ], "metadata": { "kernelspec": { "display_name": ".venv", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.11.9" } }, "nbformat": 4, "nbformat_minor": 2 }