/// <summary>
/// Obtain the Taylor Model for the non-linear ODE after substituting the controller response at the current state.
/// </summary>
private TaylorModelVec GetODEExpanded(State current)
{
// extract current values
Dictionary <string, DoubleInterval> x0 = current.ToDictionary();
x0.Add("time", new DoubleInterval(current.step * period));
// add controlled variables
var controlled = Hold(current);
foreach (var kvp in controlled)
{
x0.Add(kvp.Key, kvp.Value);
}
// update ODEs with the controlled variables
TaylorModel[] taylorModels = new TaylorModel[ode.Count];
for (int i = 0; i < expandedOde.Count; ++i)
{
// calculate ODE
Polynomial p = TaylorExpansion.Expansion(expandedOde[i], tmVarNamesWithout0, x0, order);
// Should calculate the error bounds...
taylorModels[i] = new TaylorModel(p, new DoubleInterval(0));
Console.Write("Polynomial: {0} ->", ode[i]);
p.Dump(tmVarNames, true);
}
return(new TaylorModelVec(taylorModels));
}
/// <summary>
/// Obtain the Taylor Model for the non-linear ODE after substituting the controller response at the current state.
/// </summary>
private TaylorModelVec GetODE(State current)
{
var controlled = Hold(current);
string[] varNames = new string[current.continuousNames.Length + 1];
varNames[0] = "time";
current.continuousNames.CopyTo(varNames, 1);
// update ODEs with the controlled variables
TaylorModel[] taylorModels = new TaylorModel[ode.Count];
for (int i = 0; i < ode.Count; ++i)
{
var odeC = ode[i];
foreach (var kvp in controlled)
{
//Log.WriteLine("Controlled {0} = {1}", kvp.Key, kvp.Value);
odeC = odeC.Substitute(kvp.Key, new REAL(kvp.Value));
}
// calculate ODE
Polynomial p = TaylorExpansion.ConvertPolynomial(odeC, current.continuousNames);
taylorModels[i] = new TaylorModel(p, new DoubleInterval(0));
}
return(new TaylorModelVec(taylorModels));
}
