JuliaControl · baggepinnen · Nov 7, 2021 · May 12, 2021 · May 12, 2021 · May 12, 2021
diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
@@ -4,6 +4,7 @@ on:
   pull_request:
     branches:
       - master
+      - dev
   push:
     branches:
       - master

diff --git a/README.md b/README.md
@@ -30,31 +30,18 @@ using Pkg; Pkg.add("ControlSystems")
 
 More details under [releases](https://github.com/JuliaControl/ControlSystems.jl/releases).
 
-### 2020-10
-- `lsimplot, stepplot, impulseplot` now have the same signatures as the corresponding non-plotting function.
-- New function `d2c` for conversion from discrete to continuous.
+### 2021-11
+- Time-domain simuations now return a result structure (non breaking)
+- *Breaking*: `lsimplot, stepplot, impulseplot` have been replaced by `plot(lsim())` etc.
+- *Breaking*: `pole, tzero` has been renamed to their plural form, `poles, tzeros`.
+- *Breaking*: `c2d` now no longer returns the `x0map` for statespace systems, see function `c2d_x0map` for the old behavior.
+- *Breaking*: The array layout of time and frequency responses has been transposed, i.e., in `y,t,x,u = lsim(sys, ...)`, the output arrays `y,x,u` are now of shape `size(y) == (sys.ny, T)`.
+- New functions `observer_controller, observer_predictor, placePI`.
+- *Breaking*: The type `LQG` has been removed, see [RobustAndOptimalControl.jl](https://github.com/JuliaControl/RobustAndOptimalControl.jl/blob/master/src/lqg.jl) for its replacement.
+- *Breaking*: `balreal` and `baltrunc` return an additional value, the applied similarity transform.
+- A large set of bug fixes
+- For a full list of changes, [see here](https://github.com/JuliaControl/ControlSystems.jl/pull/565/commits).
 
-### 2020-09-24
-Release v0.7 introduces a new `TimeEvolution` type to handle `Discrete/Continuous` systems. See the [release notes](https://github.com/JuliaControl/ControlSystems.jl/releases/tag/v0.7.0).
-
-### 2019-11-03
-- Poles and zeros are "not sorted" as in Julia versions < 1.2, even on newer versions of Julia. This should imply that complex conjugates are kept together.
-
-### 2019-05-28
-#### Delay systems
-- We now support systems with time delays. Example:
-```julia
-sys = tf(1, [1,1])*delay(1)
-stepplot(sys, 5) # Compilation time might be long for first simulation
-nyquistplot(sys)
-```
-#### New examples
-- [Delayed systems (frequency domain)](https://github.com/JuliaControl/ControlSystems.jl/blob/master/example/delayed_lti_system.jl)
-- [Delayed systems (time domain)](https://github.com/JuliaControl/ControlSystems.jl/blob/master/example/delayed_lti_timeresp.jl)
-- [Systems with uncertainty](https://github.com/baggepinnen/MonteCarloMeasurements.jl/blob/master/examples/controlsystems.jl)
-- [Robust PID optimization](https://github.com/baggepinnen/MonteCarloMeasurements.jl/blob/master/examples/robust_controller_opt.jl)
-### 2019-05-22
-New state-space type `HeteroStateSpace` that accepts matrices of heterogeneous types: [example using `StaticArrays`](https://juliacontrol.github.io/ControlSystems.jl/latest/man/creating_systems/#Creating-State-Space-Systems-1).
 
 ## Documentation
 
@@ -66,7 +53,7 @@ Some of the available commands are:
 ##### Constructing systems
 ss, tf, zpk
 ##### Analysis
-pole, tzero, norm, hinfnorm, linfnorm, ctrb, obsv, gangoffour, margin, markovparam, damp, dampreport, zpkdata, dcgain, covar, gram, sigma, sisomargin
+poles, tzeros, norm, hinfnorm, linfnorm, ctrb, obsv, gangoffour, margin, markovparam, damp, dampreport, zpkdata, dcgain, covar, gram, sigma, sisomargin
 ##### Synthesis
 care, dare, dlyap, lqr, dlqr, place, leadlink, laglink, leadlinkat, rstd, rstc, dab, balreal, baltrunc
 ###### PID design

diff --git a/docs/src/examples/example.md b/docs/src/examples/example.md
@@ -1,6 +1,6 @@
 ```@meta
 DocTestSetup = quote
-    using ControlSystems
+    using ControlSystems, Plots
     plotsDir = joinpath(dirname(pathof(ControlSystems)), "..", "docs", "build", "plots")
     mkpath(plotsDir)
     save_docs_plot(name) = Plots.savefig(joinpath(plotsDir,name))
@@ -25,7 +25,7 @@ u(x,t)  = -L*x .+ 1.5(t>=2.5)# Form control law (u is a function of t and x), a
 t       =0:Ts:5
 x0      = [1,0]
 y, t, x, uout = lsim(sys,u,t,x0=x0)
-Plots.plot(t,x, lab=["Position" "Velocity"], xlabel="Time [s]")
+Plots.plot(t,x', lab=["Position" "Velocity"], xlabel="Time [s]")
 
 save_docs_plot("lqrplot.svg"); # hide
 
@@ -132,8 +132,8 @@ R,S,T = rstc(B⁺,B⁻,A,Bm,Am,Ao,AR) # Calculate the 2-DOF controller polynomia
 
 Gcl = tf(conv(B,T),zpconv(A,R,B,S)) # Form the closed loop polynomial from reference to output, the closed-loop characteristic polynomial is AR + BS, the function zpconv takes care of the polynomial multiplication and makes sure the coefficient vectores are of equal length
 
-stepplot(P)
-stepplot!(Gcl) # Visualize the open and closed loop responses.
+plot(step(P))
+plot!(step(Gcl)) # Visualize the open and closed loop responses.
 save_docs_plot("ppstepplot.svg") # hide
 gangoffourplot(P, tf(-S,R)) # Plot the gang of four to check that all tranfer functions are OK
 save_docs_plot("ppgofplot.svg"); # hide

diff --git a/docs/src/index.md b/docs/src/index.md
@@ -2,6 +2,12 @@
 
 ```@meta
 CurrentModule = ControlSystems
+DocTestFilters = [
+    r"StateSpace.+?\n"
+    r"HeteroStateSpace.+?\n"
+    r"TransferFunction.+?\n"
+    r"DelayLtiSystem.+?\n"
+]
 ```
 
 ## Guide

diff --git a/docs/src/man/creating_systems.md b/docs/src/man/creating_systems.md
@@ -121,7 +121,7 @@ D =
 Continuous-time state-space model
 
 julia> HeteroStateSpace(sys, to_sized)
-HeteroStateSpace{Continuous, SizedMatrix{2, 2, Int64, 2}, SizedMatrix{2, 1, Int64, 2}, SizedMatrix{1, 2, Int64, 2}, SizedMatrix{1, 1, Int64, 2}}
+HeteroStateSpace{Continuous, SizedMatrix{2, 2, Int64, 2, Matrix{Int64}}, SizedMatrix{2, 1, Int64, 2, Matrix{Int64}}, SizedMatrix{1, 2, Int64, 2, Matrix{Int64}}, SizedMatrix{1, 1, Int64, 2, Matrix{Int64}}}
 A =
  -5   0
   0  -5

diff --git a/example/dc_motor_lqg_design.jl b/example/dc_motor_lqg_design.jl
@@ -29,7 +29,7 @@ function motor(Ke, Kt, L, R, J, b=1e-3)
 end
 
 p60 = motor(Ke, Kt, L, Rel, J)
-f1 = stepplot(p60)
+f1 = stepplot(p60, 1)
 f2 = bodeplot(p60)
 
 # LQR control
@@ -45,12 +45,20 @@ Nbar = 1. ./ (p60.D - (p60.C - p60.D*K) * inv(p60.A - p60.B*K) * p60.B)
 Vd = [10.     0   # covariance of the speed estimation
      0       10]; # covariance of the current estimation
 Vn = 0.04;       # covariance for the speed measurement (radians/s)^2
-G = LQG(p60, Q, mat(R), Vd, mat(Vn))
-Gcl = G[:cl]
-T = G[:T]
-S = G[:S];
+Ka = kalman(p60, Vd, mat(Vn))
+C = ControlSystems.observer_controller(p60, K, Ka)
+
+Gcl = let (A,B,C,D) = ssdata(p60)
+     Acl = [A-B*K B*K; zero(A) A-Ka*C]
+     Bcl = [B * Nbar; zero(B)]
+     Ccl = [C zero(C)]
+     ss(Acl, Bcl, Ccl, 0)
+end
+
+T = Gcl
+S = 1-T
 
 # 1000 logarithmically spaced values from -3 to 3
-f3 = sigmaplot([S,T], exp10.(range(-3, stop=3, length=1000)))
-f4 = stepplot(Gcl, label=["Closed loop system using LQG"])
+f3 = bodeplot([Gcl, S, T], exp10.(range(-3, stop=3, length=1000)))
+f4 = stepplot(Gcl, 1, label="Closed loop system using LQG")
 Plots.plot(f1, f2, f3, f4, layout=(2,2), size=(800, 600))
diff --git a/src/ControlSystems.jl b/src/ControlSystems.jl
@@ -11,7 +11,6 @@ export  LTISystem,
         ss,
         tf,
         zpk,
-        LQG,
         isproper,
         # Linear Algebra
         balance,
@@ -32,7 +31,6 @@ export  LTISystem,
         ctrb,
         obsv,
         place,
-        luenberger,
         # Model Simplification
         reduce_sys,
         sminreal,
@@ -42,10 +40,12 @@ export  LTISystem,
         similarity_transform,
         prescale,
         innovation_form,
+        observer_predictor,
+        observer_controller,
         # Stability Analysis
         isstable,
-        pole,
-        tzero,
+        poles,
+        tzeros,
         dcgain,
         zpkdata,
         damp,
@@ -115,6 +115,8 @@ using MacroTools
 
 abstract type AbstractSystem end
 
+
+include("types/result_types.jl")
 include("types/TimeEvolution.jl")
 ## Added interface:
 #   timeevol(Lti) -> TimeEvolution (not exported)
@@ -141,8 +143,6 @@ include("types/DelayLtiSystem.jl")
 include("types/tf.jl")
 include("types/zpk.jl")
 
-include("types/lqg.jl") # QUESTION: is it really motivated to have an LQG type?
-
 include("utilities.jl")
 
 include("types/promotion.jl")
@@ -169,10 +169,14 @@ include("delay_systems.jl")
 
 include("plotting.jl")
 
+@deprecate pole poles
+@deprecate tzero tzeros
 @deprecate num numvec
 @deprecate den denvec
 @deprecate norminf hinfnorm
 @deprecate diagonalize(s::AbstractStateSpace, digits) diagonalize(s::AbstractStateSpace)
+@deprecate luenberger(sys, p) place(sys, p, :o)
+@deprecate luenberger(A, C, p) place(A, C, p, :o)
 # There are some deprecations in pid_control.jl for laglink/leadlink/leadlinkat
 
 function covar(D::Union{AbstractMatrix,UniformScaling}, R)