updates

src/SwitchOnSafety.jl

@@ -26,7 +26,7 @@ function LinearAlgebra.opnorm(ab::AB, p::Real=2)
     if p != 2
         throw(ArgumentError("`opnorm(::AB, $p)` not supported, only `2` is supported."))
     end
-    C = nullspace(ab.B')
+    C = nullspace(ab.B', atol = 1.0)
     return opnorm(C' * ab.A, 2)
 end
 
@@ -41,13 +41,12 @@ function ρ(A::Matrix, B::Matrix)
     n = size(A, 1)
     powerA = I
     Cspace = zeros(n, 0)
-    for i in (1: n)
+    for _ in 1:n
         Cspace = [Cspace (powerA * B)]
         powerA *= A
     end 
-    C = nullspace(Cspace')
-    E = (C) * (C)'
-    A22 = (C)' * A * C
+    C = nullspace(Cspace', atol = 1.0)
+    A22 = C' * A * C
     if size(C, 2) == 0
         return 0
     end

src/periodic.jl

@@ -50,12 +50,6 @@ function periodicswitching(s::AbstractDiscreteSwitchedSystem, period::Vector, A:
 end
 
 function periodicswitching(s::DiscreteSwitchedLinearControlSystem, period::Vector, A::AB; scaling = nothing)
-    B = zeros(size(A.A, 1), 0)
-    for sigma in period
-        Bsigma = s.resetmaps[symbol(s, sigma)].B
-        #TODO: Multiply by As
-        B = [A.B Bsigma]
-    end
     lambda = ρ(A)
     growthrate = _scale(adaptgrowthrate(abs(lambda), period), scaling)
     periodicswitching(s, period, growthrate)

testingtest/dcdc.jl

@@ -0,0 +1,42 @@
+using Revise
+using SwitchOnSafety
+
+function controlswitch(A::AbstractVector{<:AbstractMatrix}, B::AbstractVector{<:AbstractMatrix})
+    G = OneStateAutomaton(length(A))
+    n = 1
+    modes = ContinuousIdentitySystem.(map(s -> HybridSystems._getstatedim(A, G, s), states(G)))
+    rm = LinearControlMap.(A, B)
+    sw = HybridSystems.Fill(AutonomousSwitching(), n)
+    HybridSystem(G, modes, rm, sw, Dict{Symbol, Any}())
+end
+
+r_l = 2
+r_c = 2
+r_0 = 2
+x_l = 0.1
+x_c = 3
+
+a1_11 = (-(r_l / x_l))
+a1_22 = (-((1 / x_c) * (1 / (r_0 + r_c))))
+a2_11 = ((-(1 / x_l)) * (r_l + (((r_0 * r_c))/(r_0 + r_c))))
+a2_12 = ((-(1 / x_l)) * (r_0 / (r_0 + r_c)))
+a2_21 = ((1 / x_c) * (r_0 / (r_0 + r_c)))
+a2_22 = ((-(1 / x_c)) * (1 / (r_0 + r_c)))
+
+Δt = 1e-1
+
+A1 = [
+    a1_11 0 1/x_l
+    0 a1_22 0
+    0 0 0
+]
+A2 = [
+    a2_11 a2_12 1 / x_l
+    a2_21 a2_22 0
+    0 0 0
+]
+
+B = reshape([0.0, 0.0, 1.0], 3, 1)
+
+s = controlswitch([I + Δt * A1, I + Δt * A2], [B, B])
+psw, ub = gripenberg(s, δ=0.004)