updated documentation + Jupyter notebook

murrayrm · murrayrm · commit bd7ba6debf03 · 2023-03-18T10:36:19.000-07:00
diff --git a/.gitignore b/.gitignore
@@ -1,4 +1,5 @@
 *.pyc
+__pycache__/
 build/
 dist/
 htmlcov/
diff --git a/control/optimal.py b/control/optimal.py
@@ -1479,8 +1479,6 @@ def _collocation_constraint(self, xvec):
     #
     # Initial guess processing
     #
-    # TODO: Not implemented
-    #
     def _process_initial_guess(self, initial_guess):
         if initial_guess is None:
             return np.zeros(
@@ -1542,8 +1540,6 @@ def _print_statistics(self, reset=True):
     #
     # Optimal estimate computations
     #
-
-    # Compute the optimal trajectory from the current state
     def compute_estimate(
             self, Y, U, X0=None, initial_guess=None,
             squeeze=None, print_summary=True):
@@ -1611,6 +1607,10 @@ def compute_estimate(
     # This function creates an input/output system that has internal state
     # xhat, u, v, y for all previous time points.  When the system update
     # function is called,
+    #
+    # TODO: change input arguments to use control_indices, similar to
+    # create_statefbk_iosystem.
+    #
     def create_mhe_iosystem(
             self, nd, output_labels='xhat[{i}]', sensor_labels=None):
         """Create an I/O system implementing an MPC controller
diff --git a/control/stochsys.py b/control/stochsys.py
@@ -307,6 +307,11 @@ def dlqe(*args, **kwargs):
 
 
 # Function to create an estimator
+#
+# TODO: add `control_indices` keyword to match create_mhe_iosystem (?)
+# TODO: change name to create_kalmanestimaor_iosystem (?)
+# TODO: create predictor/corrector, UKF, and other variants (?)
+#
 def create_estimator_iosystem(
         sys, QN, RN, P0=None, G=None, C=None,
         state_labels='xhat[{i}]', output_labels='xhat[{i}]',
@@ -317,15 +322,15 @@ def create_estimator_iosystem(
     continuous time state estimator of the form
 
     .. math::
-    
+
         d \hat{x}/dt &= A \hat{x} + B u - L (C \hat{x} - y) \\
            dP/dt &= A P + P A^T + F Q_N F^T - P C^T R_N^{-1} C P \\
-               L &= P C^T R_N^{-1} 
+               L &= P C^T R_N^{-1}
 
     or a discrete time state estimator of the form
 
     .. math::
-    
+
         \hat{x}[k+1] &= A \hat{x}[k] + B u[k] - L (C \hat{x}[k] - y[k]) \\
                P[k+1] &= A P A^T + F Q_N F^T - A P C^T R_e^{-1} C P A \\
                     L &= A P C^T R_e^{-1}
diff --git a/doc/.gitignore b/doc/.gitignore
@@ -1 +1,2 @@
 *.fig.bak
+_static/
diff --git a/doc/examples.rst b/doc/examples.rst
@@ -45,6 +45,7 @@ using running examples in FBS2e.
    cruise
    describing_functions
    kincar-fusion
+   mhe-pvtol
    mpc_aircraft
    steering
    pvtol-lqr-nested
diff --git a/doc/mhe-pvtol.ipynb b/doc/mhe-pvtol.ipynb
@@ -0,0 +1 @@
+../examples/mhe-pvtol.ipynb
diff --git a/doc/pvtol.py b/doc/pvtol.py
@@ -0,0 +1 @@
+../examples/pvtol.py
diff --git a/examples/mhe-pvtol.ipynb b/examples/mhe-pvtol.ipynb
diff --git a/examples/pvtol-outputfbk.ipynb b/examples/pvtol-outputfbk.ipynb
diff --git a/examples/pvtol.py b/examples/pvtol.py

Original file line number	Diff line number	Diff line change
`@@ -1,4 +1,5 @@`
`1`	`1`	`*.pyc`
	`2`	`+__pycache__/`
`2`	`3`	`build/`
`3`	`4`	`dist/`
`4`	`5`	`htmlcov/`