static void Main(string[] args)
{
// create matrices for testing
double m = 1; // kg
double k = 2; // N/m
double f = 3; // N/m/s
double[,] a = { { 0.0, 1.0, 0.0 },
{ 0.0, 0.0, 1.0 },
{ 1, -k / m, -f / m } };
double[,] b = { { 0.0 },
{ 0.0 },
{ 1.0 } };
//double[,] c = { { 0.0, 1.0, 0.0 } };
double[,] c = { { 0.0, 1.0, 0.0 },
{ 0.0, 0.0, 1.0 } };
double[,] d = { { 0 },
{ 0 } };
//double[,] a = {{0.0 , 1.0 },
// {-k/m , -f/m}};
//double[,] b = {{ 0.0},
// { 1.0 }};
//double[,] c = { { 1.0, 0.0 },
// { 0.0, 1.0 } };
//double[,] c = { { 1.0, 0.0 }};
//double[,] d = {{ 0.1}};
Matrix <double> A = Matrix <double> .Build.DenseOfArray(a);
Matrix <double> B = Matrix <double> .Build.DenseOfArray(b);
Matrix <double> C = Matrix <double> .Build.DenseOfArray(c);
Matrix <double> D = Matrix <double> .Build.DenseOfArray(d);
// Test CheckDimensions
try
{
Matrix <double> AFake = Matrix <double> .Build.Dense(rows : 2, columns : 3);
StateSpace ModelFake = new StateSpace(AFake, B, C, D);
Console.WriteLine("CheckDimensions failed.");
}
catch (InvalidDimensionsException)
{
Console.WriteLine("CheckDimensions success.");
}
// Test initialization
StateSpace Model = new StateSpace(A, B, C, D, x0: Vector <double> .Build.Dense(length: A.ColumnCount, value: 0));
Console.WriteLine("Model Initialization Continuous success.");
// Test CheckAliasing
try
{
Model.ContinuousToDiscrete(Ts: 1);
Console.WriteLine("CheckAliasing failed.");
}
catch (AliasingException)
{
Console.WriteLine("CheckAliasing success.");
}
// Test C2D
//Model.ContinuousToDiscrete(Ts: 0.1, type: "zoh");
//Model.PrintDiscreteModel();
//Console.WriteLine("C2D success.");
//Model.PrintState();
//Vector<double> input = Vector<double>.Build.Dense(length: 1, value: 1);
//for (int i = 0; i < 10; i++)
//{
// Console.WriteLine(Model.SimulateStep(u_k: input));
//}
//Model.PrintState();
// Test RComputation
if (Model.IsControllable())
{
Console.WriteLine("CheckControllability success.");
}
else
{
Console.WriteLine("CheckControllability failed.");
}
if (Model.IsObservable())
{
Console.WriteLine("CheckObservability success.");
}
else
{
Console.WriteLine("CheckObservability failed.");
}
Matrix <double> T = Matrix <double> .Build.RandomPositiveDefinite(order : 4);
T[0, 0] = 0;
T[1, 0] = 0;
T[2, 0] = 0;
//Console.WriteLine($"\n\nOriginal Matrix: \n\n{T}");
//Console.WriteLine($"\n\nSplit 1 Matrix: \n\n{Utils.SubUpperRight(Matrix: T, Split: 1)}");
//Console.WriteLine($"\n\nSplit 2 Matrix: \n\n{Utils.SubUpperRight(Matrix: T, Split: 2)}");
//Console.WriteLine($"\n\nSplit 3 Matrix: \n\n{Utils.SubUpperRight(Matrix: T, Split: 3)}");
//Console.WriteLine(T);
//Console.WriteLine(Vector<double>.Build.Dense(size: 3));
try
{
Console.WriteLine($"\n\nSplit 4 Matrix: \n\n{Utils.SubUpperRight(Matrix: T, Split: 4)}");
Console.WriteLine("SubUpperRight failed.");
}
catch (InvalidDimensionsException)
{
Console.WriteLine("SubUpperRight success.");
}
if (Model.IsInFirstCompanionForm())
{
Console.WriteLine("FirstCompanionForm success.");
}
else
{
Console.WriteLine($"\n\nIsFirstCompanionForm: \n\n{Model.IsInFirstCompanionForm()}");
}
Model.DetermineTFCoefficients();
double[] coeff_expected = { 1.0, 3.0, 2.0, -1.0 };
if (Model.TfCoeff_a != Vector <double> .Build.DenseOfArray(coeff_expected))
{
Console.WriteLine("ComputeTfCoeff_a success.");
}
else
{
Console.WriteLine("ComputeTfCoeff_a failed.");
}
//Console.WriteLine($"den: {Model.TfCoeff_a}, num: {Model.TfCoeff_b}");
Console.WriteLine(Model.IsStable());
}