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Option for sys.filt to not put into canonical form #168
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Work-in-progress: def sys_filt(sys, u, saturate=10):
# https://github.com/arvoelke/nengolib/issues/168
assert sys.analog == False
x = np.zeros((len(sys)))
y = np.zeros((len(u), sys.size_out))
for i in range(len(u)):
y[i, :] = sys.C.dot(x) + sys.D.dot(u[i, :])
x[:] = (sys.A.dot(x) + sys.B.dot(u[i, :])).clip(-saturate, saturate)
return y |
The |
Also related to #106 as the current implementation for multi-output systems does not have these issues. That is, |
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Currently
_CanonicalStep
(used bysys.filt
) converts the system into CCF. This conversion can be detrimental for difficult systems.The text was updated successfully, but these errors were encountered: