Internals

_corresponding_type(AT::Type{<:AbstractSystem}, fields::Tuple)

Return the system type whose field names match those in fields.

Input

• AT – abstract system type, which can be either AbstractContinuousSystem or AbstractDiscreteSystem
• fields – tuple of field names

Output

The system type (either discrete or continuous, depending on AT) whose fields names correspond to those in fields, or an error if the fields do not match any known system type.

Examples

julia> using MathematicalSystems: _corresponding_type

julia> _corresponding_type(AbstractContinuousSystem, ((:A),))
LinearContinuousSystem

julia> _corresponding_type(AbstractContinuousSystem, ((:A), (:B), (:X), (:U)))
ConstrainedLinearControlContinuousSystem

_capture_dim(expr)

Return the tuple containing the dimension(s) in expr.

Input

• expr – symbolic expression that can be of any of the following forms:

  • :x or :(x) – state dimension
  • :(x, u) – state and input dimension
  • :(x, u, w) – state, input and noise dimensions

Output

• The scalar x if expr specifies the state dimension.
• The vector [x, u] if expr specifies state and input dimension.
• The vector [x, u, w] if expr specifies state, input and noise dimensions.

extract_dyn_equation_parameters(equation, state, input, noise, dim, AT)

Extract the value and field parameter from the dynamic equation equation according to the variable state, input and noise.

For the right-hand side of the dynamic equation, this function returns a vector of tuples containing some elements from the list

• (:A_user, :A)
• (:B_user, :B)
• (:c_user, :c)
• (:D_user, :D)
• (:f_user, :f)
• (:statedim_user :statedim)
• (:inputdim_user :inputdim)
• (:noisedim_user :noisedim)

and for the left-hand side, it returns either an empty vector Any[] or [(:E_user, :E)] where the first argument of the tuple corresponds to the value and the second argument of the tuple corresponds to the field parameter.

Input

• equation – dynamic equation
• state – state variable
• input – input variable
• noise – noise variable
• dim – dimensionality
• AT – abstract system type

Output

Two arrays of tuples containing the value and field parameters for the right-hand and left-hand side of the dynamic equation equation.

add_asterisk(summand, state::Symbol, input::Symbol, noise::Symbol)

Checks if expression summand contains state, input or noise at its end. If so, a multiplication expression, e.g. Expr(:call, :*, :A, :x) is created. If not,summand` is returned.

Input

• summand – expressions
• state – state variable
• input – input variable
• noise – noise variable

Output

Multiplication expression or symbol.

Example

julia> using MathematicalSystems: add_asterisk

julia> add_asterisk(:(A1*x), :x, :u, :w)
:(A1 * x)

julia> add_asterisk(:(c1), :x, :u, :w)
:c1

julia> add_asterisk(:(Ax1), :x1, :u, :w)
:(A * x1)

julia> add_asterisk(:(Awb), :x1, :u, :wb)
:(A * wb)

julia> add_asterisk(:(A1u), :x, :u, :w)
:(A1 * u)

julia> add_asterisk(:(A1ub), :x, :u, :w)
:A1ub

_sort(parameters::Vector, order::Tuple)

Filter and sort the vector parameters according to order.

Input

• parameters – vector of tuples
• order – tuple of symbols

Output

A new vector of tuples corresponding to parameters filtered and sorted according to order.

Examples

julia> using MathematicalSystems: _sort

julia> parameters= [(:U1, :U), (:X1, :X), (:W1, :W)];

julia> _sort(parameters, (:X, :U, :W))
3-element Vector{Tuple{Any, Symbol}}:
 (:X1, :X)
 (:U1, :U)
 (:W1, :W)

julia>  parameters = [(:const, :c), (:A, :A)];

julia> _sort(parameters, (:A, :B, :c, :D))
2-element Vector{Tuple{Any, Symbol}}:
 (:A, :A)
 (:const, :c)

Notes

parameters is a vector that contains tuples whose second element is considered for the sorting according to order.

If a value of order is not contained in parameters, the corresponding entry of order will be omitted.

is_equation(expr)

Return true if the given expression expr corresponds to an equation lhs = rhs and false otherwise. This function just detects the presence of the symbol =.

Input

• expr – expression

Output

A Bool indicating whether expr is an equation or not.

extract_sum(summands, state::Symbol, input::Symbol, noise::Symbol)

Extract the variable name and field name for every element of summands which corresponds to the elements of the right-hand side of an affine system.

Input

• summands – array of expressions
• state – state variable
• input – input variable
• noise – noise variable

Output

Array of tuples of symbols with variable name and field name.

Example

julia> using MathematicalSystems: extract_sum

julia> extract_sum([:(A1*x)], :x, :u, :w)
1-element Vector{Tuple{Any, Symbol}}:
 (:(hcat(A1)), :A)

julia> extract_sum([:(A1*x), :(B1*u), :c], :x, :u, :w)
3-element Vector{Tuple{Any, Symbol}}:
 (:(hcat(A1)), :A)
 (:(hcat(B1)), :B)
 (:(vcat(c)), :c)

julia> extract_sum([:(A1*x7), :( B1*u7), :( B2*w7)], :x7, :u7, :w7)
3-element Vector{Tuple{Any, Symbol}}:
 (:(hcat(A1)), :A)
 (:(hcat(B1)), :B)
 (:(hcat(B2)), :D)

Notes

If an element of summands is a multiplication expression lhs*rhs, return lhs as variable name and :A as field name if rhs==state, :B as field name if rhs==input and :D as field name if rhs==noise.

If an element of summands is a symbol, and not equal to input or noise, the symbol is the variable name and the field name is :c. If it is equal to input, the variable name is a IdentityMultiple(I,state_dim) where state_dim is extracted from the state matrix (i.e. take the symbol lhs of lhs*rhs where rhs==state which corresponds to the state matrix and generate the expression state_dim = size(lhs,1) which is evaluated in the scope where @system is called) and the field name is :B.

Similiarily, if the element is equal to noise, the variable name is IdentityMultiple(I, state_dim) and the field name is :D.

_instantiate(system::AbstractSystem, x::AbstractVector;
            [check_constraints]=true)

Return the result of instantiating an AbstractSystem at the current state.

Input

• system – AbstractSystem
• x – state (it should be any vector type)
• check_constraints – (optional, default: true) check if the state belongs to the state set

Output

The result of applying the system to state x.

Notes

The _instantiate method generalizes the successor of an AbstractDiscreteSystem and the vector_field of an AbstractContinuousSystem into a single method.

_instantiate(system::AbstractSystem, x::AbstractVector, u::AbstractVector;
            [check_constraints]=true)

Return the result of instantiating an AbstractSystem at the current state and applying one input.

Input

• system – AbstractSystem
• x – state (it should be any vector type)
• u – input (it should be any vector type) or noise, if system is not controlled
• check_constraints – (optional, default: true) check if the state belongs to the state set

Output

The result of applying the system to state x and input u.

Notes

If the system is not controlled but noisy, the input u is interpreted as noise.

The _instantiate method generalizes the successor of an AbstractDiscreteSystem and the vector_field of an AbstractContinuousSystem into a single method.

_instantiate(system::AbstractSystem,
            x::AbstractVector, u::AbstractVector, w::AbstractVector; [check_constraints]=true)

Return the result of instantiating an AbstractSystem at the current state and applying two inputs to an AbstractSystem.

Input

• system – AbstractSystem
• x – state (it should be any vector type)
• u – input (it should be any vector type)
• w – noise (it should be any vector type)
• check_constraints – (optional, default: true) check if the state belongs to the state set

Output

The result of applying the system to state x, input u and noise w.

Notes

The _instantiate method generalizes the successor of an AbstractDiscreteSystem and the vector_field of an AbstractContinuousSystem into a single method.