fbbaebff9f
Full toolchain port. Numerical equivalence verified against MATLAB:
- main_mode_sweep.jl: every mode's final state matches MATLAB to 3-4 dp
- reach_operation.jl: per-halfspace margins match MATLAB exactly
- barrier_lyapunov.jl: per-halfspace bounds match (best Qbar from sweep
yields max|dT_c| = 33.228 K either side)
- barrier_compare_OL_CL.jl: OL gamma 1.038e13, CL gamma 1.848e4
matching the MATLAB result; LQR helps by ~20,000x on every halfspace.
Phase summary:
Phase 1: pke_solver.jl, plot_pke_results.jl (Plots.jl), main_mode_sweep.jl
Phase 2: reach_linear.jl, reach_operation.jl, barrier_lyapunov.jl,
barrier_compare_OL_CL.jl, load_predicates.jl
Phase 3 (this commit): delete plant-model/ entirely, delete reach
code from reachability/ keeping predicates.json + docs,
git mv julia-port/ -> code/, update root README + CLAUDE,
write code/CLAUDE.md and code/README.md, update reach
README + WALKTHROUGH file paths, journal preamble note
that pre-port entries reference MATLAB paths.
Why now: prompt-neutron stiffness in nonlinear reach made it clear we
need TMJets, which is Julia. Already had the Julia plant model
working and matching MATLAB. Two languages = two sources of truth =
two places to drift. One language, one truth.
Manifest.toml gitignored. .mat results gitignored.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
21 lines
730 B
Julia
21 lines
730 B
Julia
"""
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ctrl_heatup_unsat(t, x, plant, ref)
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Heatup controller WITHOUT saturation. Identical to `ctrl_heatup` but the
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`clamp()` is removed — u can be anything the feedback-linearization +
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ramped-reference P wants.
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Used as the starting point for nonlinear reach analysis. The full
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`ctrl_heatup` adds saturation on top of this, which turns the controller
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into a 3-mode piecewise-affine system and is hybrid-reach territory.
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"""
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function ctrl_heatup_unsat(t, x, plant, ref)
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Kp = 1e-4
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T_f = x[8]
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T_avg = x[9]
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u_ff = -plant.alpha_f * (T_f - plant.T_f0) -
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plant.alpha_c * (T_avg - plant.T_c0)
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T_ref = min(ref.T_start + ref.ramp_rate * t, ref.T_target)
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return u_ff + Kp * (T_ref - T_avg)
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end
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