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Better handling of heterogeneous types in feedback #729

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Aug 26, 2022
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Better handling of heterogeneous types in feedback #729

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21 changes: 11 additions & 10 deletions src/connections.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -313,6 +313,7 @@ function feedback(sys1::AbstractStateSpace, sys2::AbstractStateSpace;
Wperm=:, Zperm=:, pos_feedback::Bool=false)

timeevol = common_timeevol(sys1,sys2)
T = Base.promote_type(numeric_type(sys1), numeric_type(sys2))

if !(isa(Y1, Colon) || allunique(Y1)); @warn "Connecting single output to multiple inputs Y1=$Y1"; end
if !(isa(Y2, Colon) || allunique(Y2)); @warn "Connecting single output to multiple inputs Y2=$Y2"; end
Expand Down Expand Up @@ -359,14 +360,14 @@ function feedback(sys1::AbstractStateSpace, sys2::AbstractStateSpace;

if iszero(s1_D22) || iszero(s2_D22)
αs1_D12 = α*s1_D12
A11 = mul!(Base.copymutable(sys1.A), s1_B2, s2_D22s1_C2, α, 1)
A22 = mul!(Base.copymutable(sys2.A), αs2_B2, s1_D22s2_C2, 1, 1)
C11 = mul!(mutable(s1_C1), αs1_D12, s2_D22s1_C2, 1, 1)
C22 = mul!(mutable(s2_C1), αs2_D12, s1_D22s2_C2, 1, 1)
B11 = mul!(mutable(s1_B1), s1_B2, s2_D22*s1_D21, α, 1)
B22 = mul!(mutable(s2_B1), αs2_B2, s1_D22s2_D21, 1, 1)
D22 = mul!(mutable(s2_D11), αs2_D12, s1_D22s2_D21, 1, 1)
D11 = mul!(mutable(s1_D11), αs1_D12, s2_D22*s1_D21, 1, 1)
A11 = mul!(mutable(copy(sys1.A), T), s1_B2, s2_D22s1_C2, α, 1)
A22 = mul!(mutable(copy(sys2.A), T), αs2_B2, s1_D22s2_C2, 1, 1)
C11 = mul!(mutable(s1_C1, T), αs1_D12, s2_D22s1_C2, 1, 1)
C22 = mul!(mutable(s2_C1, T), αs2_D12, s1_D22s2_C2, 1, 1)
B11 = mul!(mutable(s1_B1, T), s1_B2, s2_D22*s1_D21, α, 1)
B22 = mul!(mutable(s2_B1, T), αs2_B2, s1_D22s2_D21, 1, 1)
D22 = mul!(mutable(s2_D11, T), αs2_D12, s1_D22s2_D21, 1, 1)
D11 = mul!(mutable(s1_D11, T), αs1_D12, s2_D22*s1_D21, 1, 1)
A = [A11 ((s1_B2*s2_C2) .*= α);
s2_B2*s1_C2 A22]

Expand Down Expand Up @@ -410,8 +411,8 @@ function feedback(sys1::AbstractStateSpace, sys2::AbstractStateSpace;
return StateSpace(A, B[:, Wperm], C[Zperm,:], D[Zperm, Wperm], timeevol)
end

mutable(x::AbstractArray) = x
mutable(x::StaticArray) = Base.copymutable(x)
mutable(x::AbstractArray, ::Type{T}) where T = convert(Matrix{T}, x)
mutable(x::StaticArray, ::Type{T}) where T = Matrix{T}(x)


"""
Expand Down