Control Systems TorBox

Control Systems Torbox is a rust library for designing, analysing, simulating and implementating linear control systems.

Usage

To use this crate add control-systems-torbox to your Cargo.toml:

[dependencies]
control-systems-torbox = "*"

Examples

The crate contains a representation for transfer functions:

use control_systems_torbox::*;

let tf_lp = Tf::<f64, Continuous>::new(&[10.0], &[10.0, 1.0]); // 10/(s + 10)
let sys = 1.0 / Tf::s();
let pi_c = 1.0 + 1.0 / Tf::s();

let openloop = sys * pi_c * tf_lp;
let tracking = openloop.feedback(&Tf::new_from_scalar(1.0));

State-Space representations is also implemented and you can convert between transfer function and state-space

use control_systems_torbox::*;
use nalgebra::dmatrix;

let a = dmatrix![0., 1.;
                 0., 0.];
let b = dmatrix![0.;
                 1.];
let c = dmatrix![1., 0.];
let d = dmatrix![0.];

let sys_ss = Ss::<Continuous>::new(a, b, c, d).unwrap();
let sys_tf = sys_ss.to_tf().unwrap();

System norms such as H2-norm and H-inf-norm are also possible to calculte

use control_systems_torbox::*;

let low_pass = 1.0/(Tf::s().powi(2) + 2.0*0.2*Tf::s() + 0.1);
let low_pass = low_pass.to_ss().unwrap();
let h2_norm  = low_pass.norm_h2().unwrap();
let hinf_norm = low_pass.norm_hinf().unwrap();
println!("H2 norm is: {}, H-inf norm is: {}", h2_norm, hinf_norm);

It is also possible to calculte the poles and zeros of a system

use control_systems_torbox::*;

let tf = (Tf::s() -1.0)*(Tf::s() + 3.0)/((Tf::s() - 4.0)*(Tf::s() + 5.0));
let ss = tf.to_ss().unwrap();
let poles = ss.poles();
let zeros = ss.zeros().unwrap();
println!("Tf:\n{}", tf);
println!("Poles:");
for pole in poles {
    println!("{}", pole);
}
println!("\nZeros:");
for zero in zeros {
    println!("{}", zero);
}

Both Bodeplot and Nyquistplot is implemented and can be displayed natively:

use control_systems_torbox::*;

let sys = (1.0/Tf::s()) * (1.0 + 1.0/Tf::s());
let sys_clp =  sys.clone() / (1.0 + sys.clone());

let mut bode_plot = BodePlot::new(BodePlotOptions::default());
bode_plot.add_system(BodePlotData::new(sys_clp.bode(0.1, 10.)));
bode_plot.show(800, 600, "Bode plot demo").unwrap();

let mut nyq_plot = NyquistPlot::new(NyquistPlotOptions::default());
nyq_plot.add_system(NyquistPlotData::new(sys.nyquist(0.1, 100.)));
nyq_plot.show(600, 600, "Nyquist plot demo").unwrap();