Deploying to gh-pages from @ a30c683 🚀

Author: boisgera

.gitattributes

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+# SCM syntax highlighting
+pixi.lock linguist-language=YAML linguist-generated=true

.gitpod.yml

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+tasks:
+  - init: pip install -r requirements.txt

.jupyterlite.doit.db

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+from numpy import *
+from numpy.linalg import *
+from scipy.integrate import solve_ivp
+from scipy.linalg import solve_continuous_are
+from matplotlib.pyplot import *
+from numpy.testing import *
+# Python 3.x Standard Library
+import gc
+import os
+
+# Third-Party Packages
+import numpy as np; np.seterr(all="ignore")
+import numpy.linalg as la
+import scipy.misc
+import matplotlib as mpl; mpl.use("Agg")
+import matplotlib.pyplot as pp
+import matplotlib.axes as ax
+import matplotlib.patches as pa
+
+
+#
+# Matplotlib Configuration & Helper Functions
+# --------------------------------------------------------------------------
+
+# TODO: also reconsider line width and markersize stuff "for the web
+#       settings".
+fontsize = 10
+
+width = 345 / 72.27
+height = width / (16/9)
+
+rc = {
+    "text.usetex": True,
+    "pgf.preamble": r"\usepackage{amsmath,amsfonts,amssymb}",
+    #"font.family": "serif",
+    "font.serif": [],
+    #"font.sans-serif": [],
+    "legend.fontsize": fontsize,
+    "axes.titlesize":  fontsize,
+    "axes.labelsize":  fontsize,
+    "xtick.labelsize": fontsize,
+    "ytick.labelsize": fontsize,
+    "figure.max_open_warning": 100,
+    #"savefig.dpi": 300,
+    #"figure.dpi": 300,
+    "figure.figsize": [width, height],
+    "lines.linewidth": 1.0,
+}
+mpl.rcParams.update(rc)
+
+# Web target: 160 / 9 inches (that's ~45 cm, this is huge) at 90 dpi
+# (the "standard" dpi for Web computations) gives 1600 px.
+width_in = 160 / 9
+
+def save(name, **options):
+    cwd = os.getcwd()
+    root = os.path.dirname(os.path.realpath(__file__))
+    os.chdir(root)
+    pp.savefig(name + ".svg", **options)
+    os.chdir(cwd)
+
+def set_ratio(ratio=1.0, bottom=0.1, top=0.1, left=0.1, right=0.1):
+    height_in = (1.0 - left - right)/(1.0 - bottom - top) * width_in / ratio
+    pp.gcf().set_size_inches((width_in, height_in))
+    pp.gcf().subplots_adjust(bottom=bottom, top=1.0-top, left=left, right=1.0-right)
+def Q(f, xs, ys):
+    X, Y = meshgrid(xs, ys)
+    fx = vectorize(lambda x, y: f([x, y])[0])
+    fy = vectorize(lambda x, y: f([x, y])[1])
+    return X, Y, fx(X, Y), fy(X, Y)
+from scipy.signal import place_poles
+A = array([[0, 1], [0, 0]])
+C = array([[1, 0]])
+poles = [-1, -2]
+K = place_poles(A.T, C.T, poles).gain_matrix
+L = K.T
+assert_almost_equal(K, [[3.0, 2.0]])
+def fun(t, X_Xhat):
+    x, x_hat = X_Xhat[0:2], X_Xhat[2:4]
+    y, y_hat = C.dot(x), C.dot(x_hat)
+    dx = A.dot(x)
+    dx_hat = A.dot(x_hat) - L.dot(y_hat - y)
+    return r_[dx, dx_hat]
+y0 = [-2.0, 1.0, 0.0, 0.0]
+result = solve_ivp(
+    fun=fun, 
+    t_span=[0.0, 5.0], 
+    y0=y0, 
+    max_step=0.1
+)
+figure()
+t = result["t"]
+y = result["y"]
+plot(t, y[0], "C0", label="$x_1$")
+plot(t, y[2], "C0--", label=r"$\hat{x}_1$")
+plot(t, y[1], "C1", label="$x_2$")
+plot(t, y[3], "C1--", label=r"$\hat{x}_2$")
+xlabel("$t$"); grid(); legend()
+pp.gcf().subplots_adjust(bottom=0.2)
+save("images/observer-trajectories")
+A = array([[0, 1], [0, 0]])
+B = array([[0], [1]])
+Q = array([[1, 0], [0, 1]])
+R = array([[1]])
+sca = solve_continuous_are
+Sigma = sca(A.T, C.T, inv(Q), inv(R))
+L = Sigma @ C.T @ R
+
+eigenvalues, _ = eig(A - L @ C)
+assert all([real(s) < 0 for s in eigenvalues])
+figure()
+x = [real(s) for s in eigenvalues]
+y = [imag(s) for s in eigenvalues]
+plot(x, y, "kx"); xlim(-2, 2); ylim(-2, 2)
+plot([0, 0], [-2, 2], "k"); 
+plot([-2, 2], [0, 0], "k")   
+grid(True); axis("square")
+title("Eigenvalues")
+axis("square")
+axis([-2, 2, -2, 2])
+save("images/poles-Kalman")
+def fun(t, X_Xhat):
+    x, x_hat = X_Xhat[0:2], X_Xhat[2:4]
+    y, y_hat = C.dot(x), C.dot(x_hat)
+    dx = A.dot(x)
+    dx_hat = A.dot(x_hat) - L.dot(y_hat - y)
+    return r_[dx, dx_hat]
+y0 = [-2.0, 1.0, 0.0, 0.0]
+result = solve_ivp(
+    fun=fun, 
+    t_span=[0.0, 5.0], 
+    y0=y0, 
+    max_step=0.1
+)
+figure()
+t = result["t"]; y = result["y"]
+plot(t, y[0], "C0", label="$x_1$")
+plot(t, y[2], "C0--", label=r"$\hat{x}_1$")
+plot(t, y[1], "C1", label="$x_2$")
+plot(t, y[3], "C1--", label=r"$\hat{x}_2$")
+xlabel("$t$")
+grid(); legend()
+pp.gcf().subplots_adjust(bottom=0.2)
+save("images/observer-Kalman-trajectories")

.nojekyll

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+dist: xenial
+language: bash
+
+env: 
+  global:
+    - CONDA=https://repo.continuum.io/miniconda/Miniconda3-latest-Linux-x86_64.sh
+    - MYBINDER=https://mybinder.org/v2/gh/boisgera/control-engineering-with-python/gh-pages
+
+before_install:
+  - sudo apt-get --yes --force-yes install texlive-full
+  - sudo apt-get install chromium-browser
+  - curl $CONDA > conda.sh
+  - bash conda.sh -b -p $HOME/conda
+  - export PATH=$HOME/conda/bin:$PATH
+  - hash -r
+  - conda config --set always_yes yes --set changeps1 no
+  - conda update conda
+  - conda info -a # debugging
+  - conda env create -f environment.yml
+  - source activate control-engineering-with-python
+  - conda install -c conda-forge nodejs=10.13.0
+  - npm install -g --unsafe-perm hummus
+  - npm install -g --unsafe-perm decktape
+
+install:
+  - ./build # generate slides and notebooks
+  - ./build-pdf
+  - rm -rf src # pandoc from git, clean-up for deployment to gh-pages
+  - rm -rf conda.sh # clean-up conda installer before deployment
+  - mv .gitignore .gitignore.bak # for deployment to gh-pages
+
+deploy:
+  provider: pages
+  skip-cleanup: true
+  github-token: $GITHUB_TOKEN  
+  on:
+    branch: master  
+
+script: 
+  - chromium-browser --headless --disable-gpu $MYBINDER
+