add hinf tests

Author: baggepinnen

test/runtests.jl

@@ -50,6 +50,11 @@ using Test
         include("test_hinf_design.jl")
     end
 
+    @testset "manual_hinf" begin
+        @info "Testing manual_hinf"
+        include("test_manual_hinf.jl")
+    end
+
     @testset "H2 design" begin
         @info "Testing H2 design"
         include("test_h2_design.jl")

test/test_manual_hinf.jl

@@ -0,0 +1,68 @@
+using RobustAndOptimalControl, ControlSystems, Plots
+P = named_ss(ss(tf(1, [1, 0.1, 1])), :P)
+We = named_ss(makeweight(10, 1, 0.1),  :We, u=:y, y=:e)  # We care a lot about the error on low frequencies
+Wu = named_ss(0.01makeweight(1e-3, 10, 10), :Wu, u=:Wu, y=:uw) # Above ω=100, we want to limit the control effort
+# Wd = named_ss(makeweight(1, 1, 1e-3),  :Wd, u=:do, y=:d) # d is low frequency
+Wd = named_ss(ss(1), :Wd, u=:do, y=:d)
+
+sumP = sumblock("y = Py + d")
+
+
+split_u = splitter(:u, 2)
+
+
+connections = [
+    :u1 => :Wu # splitter to input of Wu
+    :u2 => :Pu # splitter to input of P
+    :Py => :Py # P output to first input of sumblock
+    :d => :d   # output of Wd to second input of sumblock
+    :y => :y   # output of sumblock to input of We
+];
+
+w1 = [ # External inputs
+    :do, :u
+]
+z1 = [ # External outputs
+    :e, :uw, :y
+];
+
+G = connect([P,We,Wu,Wd,sumP,split_u], connections; z1, w1)
+
+Gsyn = partition(G, u = [:u], y = [:y]) # You can provide either u or w, and either y or z
+K, γ, info = hinfsynthesize(Gsyn, γrel=1.001, interval = (0.1, 20), transform=false)
+
+
+Gsyn2 = hinfpartition(P, We.sys, Wu.sys, [])
+K2, γ2 = hinfsynthesize(Gsyn2, γrel=1.001, interval = (0.1, 20), transform=false)
+
+@test γ ≈ 0.3148 atol=1e-2 # value by slicot
+@test γ ≈ γ2 atol=1e-3
+
+@test hinfnorm2(lft(Gsyn, K))[1] ≈ γ atol=1e-2
+@test hinfnorm2(lft(Gsyn2, K2))[1] ≈ γ2 atol=1e-2
+
+
+@test hinfnorm2(K+K2)[1] < 1e-6
+
+
+Pcl, S, CS, T = hinfsignals(Gsyn, P, K)
+
+@test hinfnorm2(Pcl)[1] ≈ γ atol=1e-2
+@test hinfnorm2(lft(Gsyn, K))[1] ≈ γ atol=1e-2
+@test hinfnorm2(lft(Gsyn2, K2))[1] ≈ γ2 atol=1e-2
+
+
+# Controller by slicot, test if hinfnorm is the same
+Km = let
+    tempA = [0.0 1.0 0.0 0.0; -227.5648 -32.5972 -703.6977 -117.9357; 0.0 0.0 -0.1 0.0; -226.5648 -32.4972 -703.6977 -217.4345]
+    tempB = [-0.0; -0.0; 1.0; 0.0;;]
+    tempC = [-226.5648 -32.4972 -703.6977 -117.9357]
+    tempD = [0.0;;]
+    ss(tempA, tempB, tempC, tempD)
+end
+
+@test hinfnorm2(lft(Gsyn, Km))[1] ≈ 0.3148 atol=1e-3
+@test hinfnorm(lft(Gsyn, Km))[1] ≈ 0.3148 atol=1e-3
+
+
+