Merge pull request #60 from decargroup/59-implement-uncertainty-measure-computation

59 - Implement uncertainty measure computation

Author: sdahdah

doc/_static/example_7/7_sval_uncertainty_weight_left.png

@@ -204,17 +204,17 @@ by the variation in parameters.
 Next, the uncertainty residual can be computed for each off-nominal system and
 uncertainty model. `dkpy` implements six unstructured uncertainty models:
 
-* Additive uncertainty ("A");
+* Additive uncertainty ("A")
     .. image:: _static/example_7/7_sval_residual_A.png
-* Multiplicative input uncertainty ("I");
+* Multiplicative input uncertainty ("I")
     .. image:: _static/example_7/7_sval_residual_I.png
-* Multiplicative output uncertainty ("O");
+* Multiplicative output uncertainty ("O")
     .. image:: _static/example_7/7_sval_residual_O.png
-* Inverse additive uncertainty ("iA");
+* Inverse additive uncertainty ("iA")
     .. image:: _static/example_7/7_sval_residual_iA.png
-* Inverse multiplicative input uncertainty ("iI");
+* Inverse multiplicative input uncertainty ("iI")
     .. image:: _static/example_7/7_sval_residual_iI.png
-* Inverse multiplicative output uncertainty ("iO").
+* Inverse multiplicative output uncertainty ("iO")
     .. image:: _static/example_7/7_sval_residual_iO.png
 
 See Chapter 8.2.3 of [SP06]_ for more information on these unstructured 
@@ -239,7 +239,10 @@ stable and minimum phase linear time-invariant (LTI) system can be fit to the
 frequency response of the weights to obtain a LTI description of the uncertainty
 set. The optimal weight frequency responses and fitted weights are shown below.
 
-.. image:: _static/example_7/7_uncertainty_weight.png
+* Left:
+    .. image:: _static/example_7/7_sval_uncertainty_weight_left.png
+* Right:
+    .. image:: _static/example_7/7_sval_uncertainty_weight_right.png
 
 Multi-Model Uncertainty Characterization: Aircraft Actuator Model
 -----------------------------------------------------------------
@@ -269,7 +272,7 @@ weight is constrained to the identity matrix. Given that the right uncertainty
 weight is the identity matrix, a fit does not need to be performed for this weight
 as it will be neglected in the generalized plant.
 
-.. image:: _static/example_8/8_magnitude_uncertainty_weight.png
+.. image:: _static/example_8/8_sval_uncertainty_weight_left.png
 
 
 

doc/_static/example_7/7_sval_uncertainty_weight_right.png

@@ -32,15 +32,26 @@ def example_uncertainty_characterization():
     )
 
     # Compute uncertainty weight frequency response
-    response_weight_left, response_weight_right = (
+    complex_weight_left, complex_weight_right = (
         dkpy.compute_uncertainty_weight_response(
             response_residuals_dict["inverse_additive"], "diagonal", "diagonal"
         )
     )
 
     # Fit overbounding stable and minimum-phase uncertainty weight system
-    weight_left = dkpy.fit_uncertainty_weight(response_weight_left, omega, [4, 5])
-    weight_right = dkpy.fit_uncertainty_weight(response_weight_right, omega, [3, 5])
+    weight_left = dkpy.fit_uncertainty_weight(
+        complex_weight_left, omega, [4, 5], "left", "diagonal"
+    )
+    weight_right = dkpy.fit_uncertainty_weight(
+        complex_weight_right, omega, [3, 5], "right", "diagonal"
+    )
+
+    measure = dkpy.compute_uncertainty_measure_response(
+        complex_nominal,
+        complex_weight_left,
+        complex_weight_right,
+        "multiplicative_input",
+    )
 
     # Plot: Magnitude response of nominal and off-nominal systems
     dkpy.plot_magnitude_response_uncertain_model_set(
@@ -72,15 +83,20 @@ def example_uncertainty_characterization():
         response_residuals_dict, omega
     )
 
-    # Plot: Magnitude response of uncertainty weight frequency response and overbounding
-    # fit
-    dkpy.plot_magnitude_response_uncertainty_weight(
-        response_weight_left,
-        response_weight_right,
+    # Plot: Singular value response of left uncertainty weight
+    dkpy.plot_singular_value_response_uncertainty_weight(
+        complex_weight_left,
         omega,
         weight_left,
+    )
+
+    # Plot: Singular value response of right uncertainty weight
+    dkpy.plot_singular_value_response_uncertainty_weight(
+        complex_weight_right,
+        omega,
         weight_right,
     )
+
     plt.show()
 
 

doc/_static/example_7/7_uncertainty_weight.png

@@ -26,7 +26,7 @@ def example_aircraft_uncertainty_characterization():
     )
 
     # Compute the optimal uncertainty weights with a given structure
-    response_weight_left, response_weight_right = (
+    complex_weight_left, complex_weight_right = (
         dkpy.compute_uncertainty_weight_response(
             response_residual["multiplicative_input"],
             "scalar",
@@ -35,7 +35,9 @@ def example_aircraft_uncertainty_characterization():
     )
 
     # Fit an overbounding LTI system to the optimal uncertainty weight response
-    weight_left = dkpy.fit_uncertainty_weight(response_weight_left, omega, 1)
+    weight_left = dkpy.fit_uncertainty_weight(
+        complex_weight_left, omega, 1, "left", "scalar"
+    )
 
     # Plot: Singular value response of nominal and off-nominal systems
     dkpy.plot_singular_value_response_uncertain_model_set(
@@ -48,15 +50,13 @@ def example_aircraft_uncertainty_characterization():
         response_residual, omega, hz=True
     )
 
-    # Plot: Magnitude response of uncertainty weight frequency response and overbounding
-    # fit
-    dkpy.plot_magnitude_response_uncertainty_weight(
-        response_weight_left,
-        response_weight_right,
+    # Plot: Singular value response of left uncertainty weight
+    dkpy.plot_singular_value_response_uncertainty_weight(
+        complex_weight_left,
         omega,
-        weight_left=weight_left,
-        hz=True,
+        weight_left,
     )
+
     plt.show()
 
 

doc/_static/example_8/8_magnitude_uncertainty_weight.png

@@ -3,6 +3,7 @@
 from .controller_synthesis import *
 from .dk_iteration import *
 from .d_scale_fit import *
+from .lti_system_fit import *
 from .structured_singular_value import *
 from .uncertainty_structure import *
 from .uncertainty_characterization import *