Jim Crist-Harif

GSoC Week 2: Started Work on Linearizer Class

Posted on May 30, 2014

This week I started work on implementing a general linearization method in Sympy. The current plan is to implement this in three parts:

1. A Linearizer class

This will hold the general form described by Luke and Gilbert's paper. The form is:

\begin{aligned} f_{c}(q, t) &= 0_{l \times 1} \\ f_{v}(q, u, t) &= 0_{m \times 1} \\ f_{a}(q, \dot{q}, u, \dot{u}, t) &= 0_{m \times 1} \\ f_{0}(q, \dot{q}, t) + f_{1}(q, u, t) &= 0_{n \times 1} \\ f_{2}(q, \dot{u}, t) + f_{3}(q, \dot{q}, u, r, t) &= 0_{(o-m) \times 1} \end{aligned}


\begin{aligned} q, \dot{q} & \in \mathbb{R}^n \\ u, \dot{u} & \in \mathbb{R}^o \\ r & \in \mathbb{R}^s \end{aligned}

Once in this general form, the algorithm devised by Luke and Gilbert is able to linearize the system properly (not messing up due to constraints, as shown last week). The resulting linearized form is:

$$ M \begin{bmatrix} \delta \dot{q} \\ \delta\dot{u} \end{bmatrix} = A \begin{bmatrix} \delta q_{i} \\ \delta u_{i} \end{bmatrix} + B \begin{bmatrix}\delta r \end{bmatrix}$$

where $M$, $A$, and $B$ are matrices. A class method linearize is used to perform this step.

2. A linearize function

This will take input systems of various forms (formed by KanesMethod, LagrangesMethod, or ideally a general matrix of equations). The function will then turn the system into the general form described above, create an instance of Linearizer, call the linearize method, and return the result.

To make this conversion easy and general, any class that implements a to_linearizer method can be linearized. One has been written for KanesMethod already. Originally I thought I could get equations formed with Lagranges Method into this general form as well, but now I'm not sure. The multipliers could be treated as dependent speeds (eliminating them from the state vector), but for the linearization to be valid a trim point for each multiplier will still need to be chosen. I'm going to think about this for a while, and finish the remaining functionality for the KanesMethod class first. If it turns out this can't be generalized for Lagrange's method, then a seperate control flow path will need to be added.

3. linearize class methods for KanesMethod and LagrangesMethod

These will be nice wrappers for the linearize function, making the linearization process as easy as creating the Method object, and then calling Method.linearize().

What's done so far

This week I implemented the beginnings of the Linearizer class. So far it can only handle systems with both motion and configuration constraints. I plan on finishing up the remaining control paths for just motion, just configuration, and no constraint systems next week. For testing this functionality, I used the rolling disk example used in Luke and Gilbert's paper. With the current functionality, linearization works as:

# Equations for the disk are derived above, KM is a KanesMethod object
>>> linearizer = KM.to_linearizer()
>>> A, B = linearizer.linearize(eq_q, eq_u, eq_qd, eq_ud, A_and_B=True)

# Evaluating in an upright configuration at critical speed:
>>> upright_critical_speed = {q1d: 0, q2: 0, q3d: 1/sqrt(3), m: 1, r: 1, g: 1}

#Calculating the critical speed eigenvalues, they should all be zero
>>> A.subs(upright_critical_speed).eigenvals()
{0: 8}

I also added a to_linearizer method to the KanesMethod class. This finds all the needed information in the KanesMethod object, and returns a Linearizer object. I'd say this is done as well, and is also tested in the test_linearize_rolling_disc test.

Two other tests were also written, but not finished. They build off the example I wrote up last week with a minimal and nonminimal pendulum system. I also have this same system worked out in minimal and nonminimal coordinates using LagrangesMethod. Because it is so quick to compute, and intuitive to know if it's correct or not I think this will be an excellent way to test the functionality of the linearization routines.

All of this work can be seen (and hopefully commented on, I need code review!) in this pull request. As it's still very much a work in progress, I made a pull request on my own master branch, so that others can review it before I submit it to Sympy proper.