Nonlinear state-space models in ControlSystems.jl?

General Usage
,
1

Will nonlinear state-space models be implemented in ControlSystems.jl? Nonlinear state-space model here is a system with equations like

\begin{cases} \begin{aligned} \dot{\boldsymbol{x}} &= f(t, \boldsymbol{x}, \boldsymbol{u}), \\ \boldsymbol{y} &= g(t, \boldsymbol{x}, \boldsymbol{u}), \end{aligned} \end{cases}

and the user can specify f and g.

Such systems will be useful for simulations such as controlling an inverted pendulum with a PID controller.

I know nonlinearity() exists, but it does not seem to be able to take multiple inputs.
(Sorry if such a feature is already available.)

2

There are no concrete plans to bring more nonlinear features into ControlSystems.jl, instead, the plan is to integrate better with other nonlinear simulation tools, such as ModelingToolkit.jl.

Here is a video where the two are used together for nonlinear modeling and simulation with linear control design

I also have a, so far experimental, interface between Controlsystems.jl and ModelingToolkit.jl here

1 Like
3

That’s great! Thank you.