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removing commented out code #144

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Dec 24, 2024
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removing commented out code #144

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20 changes: 4 additions & 16 deletions src/model/linearization.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -136,36 +136,24 @@ julia> linearize!(linmodel, model, x=[20.0], u=[0.0]); linmodel.A
```
"""
function linearize!(
linmodel::LinModel{NT}, model::SM; x=model.x0+model.xop, u=model.uop, d=model.dop
) where {NT<:Real, SM<:SimModel{NT}}
linmodel::LinModel, model::SimModel; x=model.x0+model.xop, u=model.uop, d=model.dop
)
nonlinmodel = model
buffer = nonlinmodel.buffer
# --- remove the operating points of the nonlinear model (typically zeros) ---
x0::Vector{NT}, u0::Vector{NT}, d0::Vector{NT} = buffer.x, buffer.u, buffer.d
x0, u0, d0 = buffer.x, buffer.u, buffer.d
u0 .= u .- nonlinmodel.uop
d0 .= d .- nonlinmodel.dop
x0 .= x .- nonlinmodel.xop
# --- compute the Jacobians at linearization points ---
#A::Matrix{NT}, Bu::Matrix{NT}, Bd::Matrix{NT} = linmodel.A, linmodel.Bu, linmodel.Bd
#C::Matrix{NT}, Dd::Matrix{NT} = linmodel.C, linmodel.Dd
xnext0::Vector{NT}, y0::Vector{NT} = linmodel.buffer.x, linmodel.buffer.y
#myf_x0!(xnext0, x0) = f!(xnext0, nonlinmodel, x0, u0, d0, model.p)
#myf_u0!(xnext0, u0) = f!(xnext0, nonlinmodel, x0, u0, d0, model.p)
#myf_d0!(xnext0, d0) = f!(xnext0, nonlinmodel, x0, u0, d0, model.p)
#myh_x0!(y0, x0) = h!(y0, nonlinmodel, x0, d0, model.p)
#myh_d0!(y0, d0) = h!(y0, nonlinmodel, x0, d0, model.p)
#ForwardDiff.jacobian!(A, myf_x0!, xnext0, x0)
#ForwardDiff.jacobian!(Bu, myf_u0!, xnext0, u0)
#ForwardDiff.jacobian!(Bd, myf_d0!, xnext0, d0)
#ForwardDiff.jacobian!(C, myh_x0!, y0, x0)
#ForwardDiff.jacobian!(Dd, myh_d0!, y0, d0)
jb = nonlinmodel.buffer.jacobian
jacobianA!(linmodel.A, jb, nonlinmodel, x0, u0, d0)
jacobianBu!(linmodel.Bu, jb, nonlinmodel, x0, u0, d0)
jacobianBd!(linmodel.Bd, jb, nonlinmodel, x0, u0, d0)
jacobianC!(linmodel.C, jb, nonlinmodel, x0, d0)
jacobianDd!(linmodel.Dd, jb, nonlinmodel, x0, d0)
# --- compute the nonlinear model output at operating points ---
xnext0, y0 = linmodel.buffer.x, linmodel.buffer.y
h!(y0, nonlinmodel, x0, d0, model.p)
y = y0
y .= y0 .+ nonlinmodel.yop
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