9fc4afb611
Port pke_params, pke_th_rhs, pke_linearize, and all five controllers to Julia. sim_sanity.jl reproduces the MATLAB main.m operation-mode scenario (100%->80% Q_sg step) and matches final state to 3 decimals across n, T_f, T_avg, T_cold, u. reach_operation.jl is a stub: ReachabilityAnalysis.jl (LGG09, GLGM06, BFFPSV18) numerically explodes on the raw stiff system — envelopes of 1e14 K to 1e37 K instead of the known-tight 0.03 K. Almost certainly a state-scaling issue: precursors C_i ~ 1e5, temperatures ~ 300, eigvals span 5000x. Diagonal scaling + retry is planned; left for the next pass since the hand-rolled MATLAB reach already discharges the operation-mode obligation. Project.toml pins OrdinaryDiffEq >= 6.111 (the one that precompiled cleanly on first instantiate). Manifest gitignored. Hacker-Split: Julia path open, reach side needs a scaling pass. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
91 lines
3.5 KiB
Julia
91 lines
3.5 KiB
Julia
#!/usr/bin/env julia
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#
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# reach_operation.jl — operation-mode linear reach in Julia. **STUB**.
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#
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# Attempt to reproduce reachability/reach_operation.m using
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# ReachabilityAnalysis.jl.
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#
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# STATUS: does NOT yet produce a useful result. The closed-loop system
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# is strongly stiff (eigvals spanning 0.012 to 65 /s) and has states
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# with magnitudes differing by ~10 orders of magnitude (precursors C_i
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# ~ 1e5 due to 1/Lambda, temperatures ~ 300). LGG09 / GLGM06 / BFFPSV18
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# all blow up numerically over the 600s horizon, returning envelopes
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# ranging from 2757 K to 1e37 K instead of the known-tight 0.03 K.
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#
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# Likely fix: diagonal state scaling S such that A_cl_scaled = S A_cl S^{-1}
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# has O(1) entries, run reach in scaled coordinates, then invert S.
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# Also worth trying: ASB07 (adaptive step) or the Taylor-model schemes.
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# Left as future work — the hand-rolled MATLAB zonotope in
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# reachability/reach_linear.m gives a valid result today, so the Julia
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# port is priority-B.
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using Pkg
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Pkg.activate(joinpath(@__DIR__, ".."))
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using LinearAlgebra
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using MatrixEquations
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using ReachabilityAnalysis, LazySets
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include(joinpath(@__DIR__, "..", "src", "pke_params.jl"))
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include(joinpath(@__DIR__, "..", "src", "pke_th_rhs.jl"))
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include(joinpath(@__DIR__, "..", "src", "pke_linearize.jl"))
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plant = pke_params()
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x_op = pke_initial_conditions(plant)
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# --- Linearize around the operating point ---
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A, B, B_w, _, _, _ = pke_linearize(plant)
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# --- LQR gain (same Q, R as the MATLAB side) ---
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Q_lqr = Diagonal([1.0, 1e-3, 1e-3, 1e-3, 1e-3, 1e-3, 1e-3, 1e-2, 1e2, 1.0])
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R_lqr = 1e6 * ones(1, 1)
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X_ric, _, _ = arec(A, reshape(B, :, 1), R_lqr, Matrix(Q_lqr))
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K = (R_lqr \ reshape(B, 1, :) * X_ric) # 1 x 10
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A_cl = A - reshape(B, :, 1) * K
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println("\n=== Julia closed-loop spectrum ===")
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ev = eigvals(A_cl)
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println(" max Re(eig) = ", round(maximum(real.(ev)); sigdigits=4))
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println(" min Re(eig) = ", round(minimum(real.(ev)); sigdigits=4))
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# --- Reach-set problem: dx/dt = A_cl dx + B_w w, dx(0) ∈ X0, w ∈ W ---
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delta_entry = [0.01 * x_op[1];
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0.001 .* abs.(x_op[2:7]);
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0.1; 0.1; 0.1]
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X0 = Hyperrectangle(zeros(10), delta_entry)
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Q_nom = plant.P0
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w_lo, w_hi = -0.15 * plant.P0, 0.0
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W = Interval(w_lo, w_hi)
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B_w_col = reshape(B_w, :, 1)
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# Encode the bounded disturbance as a bounded input:
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# dx/dt = A_cl x + B_w u, u ∈ W.
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# Direct constructor since the @system macro's dialect is package-version sensitive.
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sys = ConstrainedLinearControlContinuousSystem(A_cl, B_w_col, Universe(10), W)
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prob = InitialValueProblem(sys, X0)
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sol = solve(prob; T=600.0, alg=GLGM06(; δ=0.5, max_order=20))
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# Extract T_c envelope via support function queries.
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flow = flowpipe(sol)
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e9 = zeros(10); e9[9] = 1.0
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T_c_hi = [ρ(e9, set(R)) for R in flow]
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T_c_lo = [-ρ(-e9, set(R)) for R in flow]
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println("\n=== Operation-mode reach envelope on T_c (deviation from T_c0) ===")
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println(" min dT_c = ", round(minimum(T_c_lo); digits=4), " K")
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println(" max dT_c = ", round(maximum(T_c_hi); digits=4), " K")
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println(" safety band |dT_c| <= 5.0 K")
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if maximum(abs.([T_c_lo; T_c_hi])) <= 5.0
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println(" OK: Julia reach set inside safety band.")
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else
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println(" *** VIOLATION ***")
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end
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# Save the envelope for later comparison
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using MAT
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matwrite(joinpath(@__DIR__, "..", "..", "reachability", "julia_reach_operation.mat"),
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Dict("T_c_lo" => T_c_lo, "T_c_hi" => T_c_hi,
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"A_cl" => A_cl, "K" => Matrix(K), "delta_entry" => delta_entry))
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println("\nSaved envelope to reachability/julia_reach_operation.mat")
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