refactor(Blocks): add RealInputArray and RealOutputArray

src/Blocks/Blocks.jl

@@ -7,7 +7,7 @@ import IfElse: ifelse
 import ..@symcheck
 using ModelingToolkit: getdefault, t_nounits as t, D_nounits as D
 
-export RealInput, RealOutput, SISO
+export RealInput, RealInputArray, RealOutput, RealOutputArray, SISO
 include("utils.jl")
 
 export Gain, Sum, MatrixGain, Feedback, Add, Add3, Product, Division

src/Blocks/utils.jl

@@ -1,59 +1,101 @@
 @connector function RealInput(; name, nin = 1, u_start = nin > 1 ? zeros(nin) : 0.0)
+    nin > 1 && @warn "For inputs greater than one, use `RealInputArray`."
     if nin == 1
-        @variables u(t)=u_start [
+        @variables u(t) [
             input = true,
             description = "Inner variable in RealInput $name"
         ]
     else
-        @variables u(t)[1:nin]=u_start [
+        @variables u(t)[1:nin] [
             input = true,
             description = "Inner variable in RealInput $name"
         ]
         u = collect(u)
     end
-    ODESystem(Equation[], t, [u...], []; name = name)
+    ODESystem(Equation[], t, [u...], []; name = name, guesses = [u => u_start])
 end
 @doc """
-    RealInput(;name, nin, u_start)
+    RealInput(;name, u_start)
 
 Connector with one input signal of type Real.
 
 # Parameters:
-- `nin=1`: Number of inputs
-- `u_start=0`: Initial value for `u`
+- `u_start=0`: Guess value for `u`.
 
 # States:
-- `u`: Value of the connector; if nin=1 this is a scalar
+- `u`: Value of the connector which is a scalar.
 """ RealInput
 
+@connector function RealInputArray(; name, nin, u_start = zeros(nin))
+    @variables u(t)[1:nin] [
+        input = true,
+        description = "Inner variable in RealInputArray $name"
+    ]
+    u = collect(u)
+    ODESystem(Equation[], t, [u...], []; name = name, guesses = [u => u_start])
+end
+@doc """
+    RealInputArray(;name, nin, u_start)
+
+Connector with an array of input signals of type Real.
+
+# Parameters:
+- `nin`: Number of inputs.
+- `u_start=zeros(nin)`: Guess value for `u`.
+
+# States:
+- `u`: Value of the connector which is an array.
+""" RealInputArray
+
 @connector function RealOutput(; name, nout = 1, u_start = nout > 1 ? zeros(nout) : 0.0)
+    nout > 1 && @warn "For outputs greater than one, use `RealOutputArray`."
     if nout == 1
-        @variables u(t)=u_start [
+        @variables u(t) [
             output = true,
             description = "Inner variable in RealOutput $name"
         ]
     else
-        @variables u(t)[1:nout]=u_start [
+        @variables u(t)[1:nout] [
             output = true,
             description = "Inner variable in RealOutput $name"
         ]
         u = collect(u)
     end
-    ODESystem(Equation[], t, [u...], []; name = name)
+    ODESystem(Equation[], t, [u...], []; name = name, guesses = [u => u_start])
 end
 @doc """
-    RealOutput(;name, nout, u_start)
+    RealOutput(;name, u_start)
 
 Connector with one output signal of type Real.
 
 # Parameters:
-- `nout=1`: Number of outputs
-- `u_start=0`: Initial value for `u`
+- `u_start=0`: Guess value for `u`.
 
 # States:
-- `u`: Value of the connector; if nout=1 this is a scalar
+- `u`: Value of the connector which is a scalar.
 """ RealOutput
 
+@connector function RealOutputArray(; name, nout, u_start = zeros(nout))
+    @variables u(t)[1:nout] [
+        output = true,
+        description = "Inner variable in RealOutputArray $name"
+    ]
+    u = collect(u)
+    ODESystem(Equation[], t, [u...], []; name = name, guesses = [u => u_start])
+end
+@doc """
+    RealOutputArray(;name, nout, u_start)
+
+Connector with an array of output signals of type Real.
+
+# Parameters:
+- `nout`: Number of outputs.
+- `u_start=zeros(nout)`: Guess value for `u`.
+
+# States:
+- `u`: Value of the connector which is an array.
+""" RealOutputArray
+
 """
     SISO(;name, u_start = 0.0, y_start = 0.0)
 

test/Blocks/test_analysis_points.jl

@@ -59,7 +59,7 @@ matrices, _ = get_comp_sensitivity(sys, :plant_input)
 
 ## get_looptransfer
 
-matrices, _ = Blocks.get_looptransfer(sys, :plant_input)
+matrices, _ = Blocks.get_looptransfer(sys, :plant_input; p = Dict(P.input.u => P.u_start))
 @test matrices.A[] == -1
 @test matrices.B[] * matrices.C[] == -1 # either one negative
 @test matrices.D[] == 0
@@ -299,7 +299,8 @@ T = -CS.feedback(Kss * Pss, I(2), pos_feedback = true)
 # bodeplot([ss(matrices...), T])
 @test CS.tf(CS.ss(matrices...)) ≈ CS.tf(T)
 
-matrices, _ = Blocks.get_looptransfer(sys, :plant_input)
+matrices, _ = Blocks.get_looptransfer(
+    sys, :plant_input; p = Dict(P.input.u[1] => 0.0, P.input.u[2] => 0.0))
 L = Kss * Pss
 @test CS.tf(CS.ss(matrices...)) ≈ CS.tf(L)
 
@@ -351,16 +352,19 @@ To = CS.feedback(Ps * Cs)
 @test tf(G[2, 1]) ≈ tf(-CS.feedback(Ps, Cs))
 
 # matrices, _ = get_looptransfer(sys_outer, [:inner_plant_input, :inner_plant_output])
-matrices, _ = get_looptransfer(sys_outer, :inner_plant_input)
+matrices, _ = get_looptransfer(
+    sys_outer, :inner_plant_input; p = Dict(sys_inner.P.input.u => sys_inner.P.u_start))
 L = CS.ss(matrices...) |> sminreal
 @test tf(L) ≈ -tf(Cs * Ps)
 
-matrices, _ = get_looptransfer(sys_outer, :inner_plant_output)
+matrices, _ = get_looptransfer(
+    sys_outer, :inner_plant_output; p = Dict(sys_inner.add.input2.u => 0.0))
 L = CS.ss(matrices...) |> sminreal
 @test tf(L[1, 1]) ≈ -tf(Ps * Cs)
 
 # Calling looptransfer like below is not the intended way, but we can work out what it should return if we did so it remains a valid test
-matrices, _ = get_looptransfer(sys_outer, [:inner_plant_input, :inner_plant_output])
+matrices, _ = get_looptransfer(sys_outer, [:inner_plant_input, :inner_plant_output];
+    p = Dict(sys_inner.P.input.u => sys_inner.P.u_start, sys_inner.add.input2.u => 0.0))
 L = CS.ss(matrices...) |> sminreal
 @test tf(L[1, 1]) ≈ tf(0)
 @test tf(L[2, 2]) ≈ tf(0)