From 54f865e188e2474fd6c23439251fbbfba9bc310a Mon Sep 17 00:00:00 2001
From: Anes Benmerzoug <a.benmerzoug@appliedai.de>
Date: Wed, 8 May 2024 06:12:58 +0200
Subject: [PATCH] Add more description and show W matrix in DMDc section

---
 .../nb_70_machine_learning_control.ipynb      | 198 +++++++++++++++++-
 1 file changed, 190 insertions(+), 8 deletions(-)

diff --git a/notebooks/nb_70_machine_learning_control.ipynb b/notebooks/nb_70_machine_learning_control.ipynb
index 79610a9..46c26da 100644
--- a/notebooks/nb_70_machine_learning_control.ipynb
+++ b/notebooks/nb_70_machine_learning_control.ipynb
@@ -2,7 +2,7 @@
  "cells": [
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 1,
    "id": "8497a4b2-a020-4fba-8539-bc1361a34023",
    "metadata": {
     "editable": true,
@@ -28,7 +28,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 2,
    "id": "f7339d3d-eae4-4e05-a7fb-050df96782e7",
    "metadata": {
     "init_cell": true,
@@ -41,14 +41,184 @@
      "ActiveScene"
     ]
    },
-   "outputs": [],
+   "outputs": [
+    {
+     "data": {
+      "text/html": [
+       "<style>/*\n",
+       "This file is mainly copy-pasta from rise's examples\n",
+       "https://github.com/damianavila/RISE/blob/master/examples/rise.css\n",
+       "that was further customized for appliedAI purposes\n",
+       "*/\n",
+       "@import url('https://fonts.googleapis.com/css2?family=Work+Sans:wght@400&display=swap');\n",
+       "\n",
+       "\n",
+       "/*\n",
+       "body {\n",
+       "    font-family: 'Work Sans', sans-serif !important;\n",
+       "    text-transform: initial !important;\n",
+       "    letter-spacing: initial !important;\n",
+       "    font-weight: 400 !important;\n",
+       "    line-height: 1.5 !important;\n",
+       "    text-size-adjust: 100% !important;\n",
+       "    ‑webkit‑text‑size‑adjust: 100% !important;\n",
+       "}\n",
+       "\n",
+       "\n",
+       ".reveal, div.text_cell_render, .md-slide, .sidebar-wrapper {\n",
+       "    font-size: 1.5rem !important;\n",
+       "}\n",
+       "*/\n",
+       "\n",
+       ".navbar-default .navbar-nav > li > a {\n",
+       "    color: #00747b !important;\n",
+       "}\n",
+       "\n",
+       ".filename {\n",
+       "    font-size: 2.4rem !important;\n",
+       "    color: #212529 !important;\n",
+       "    font-weight: 600 !important;\n",
+       "}\n",
+       "\n",
+       ".reveal, .md-slide {\n",
+       "    color: white !important;\n",
+       "}\n",
+       "\n",
+       "h1, h2 {\n",
+       "    color: #00747b !important;\n",
+       "}\n",
+       "\n",
+       "h3, h4, h5, h6 {\n",
+       "    color: #808080 !important;\n",
+       "}\n",
+       "\n",
+       ".reveal p, .reveal ol, .reveal dl, .reveal ul,\n",
+       "div.text_cell_render {\n",
+       "    color: #212529 !important;\n",
+       "}\n",
+       "\n",
+       "/*copied from stackoverflow, better spacing between list items*/\n",
+       "li + li {\n",
+       "  margin-top: 0.2em;\n",
+       "}\n",
+       "\n",
+       "body.rise-enabled .reveal ol, body.rise-enabled .reveal dl, body.rise-enabled .reveal ul {\n",
+       "    margin-left: 0.1em;\n",
+       "    margin-top: 0.2em;\n",
+       "}\n",
+       "\n",
+       ".reveal .rendered_html h1:first-child,\n",
+       ".reveal .rendered_html h2:first-child,\n",
+       ".reveal .rendered_html h3:first-child,\n",
+       ".reveal .rendered_html h4:first-child,\n",
+       ".reveal .rendered_html h5:first-child {\n",
+       "    margin-top: 0.2em;\n",
+       "}\n",
+       "\n",
+       "/*\n",
+       ".CodeMirror-lines, .output_text {\n",
+       "    font-size: 1.5rem !important;\n",
+       "}\n",
+       "*/\n",
+       "\n",
+       "h1.plan, h2.plan, h3.plan {\n",
+       "    text-align: center;\n",
+       "    padding-bottom: 30px;\n",
+       "}\n",
+       "\n",
+       "ul.plan>li>span.plan-bold {\n",
+       "    font-size: 110%;\n",
+       "    padding: 4px;\n",
+       "    font-weight: bold;\n",
+       "    background-color: #eee;\n",
+       "}\n",
+       "\n",
+       "ul.plan>li>ul.subplan>li>span.plan-bold {\n",
+       "    font-weight: bold;\n",
+       "}\n",
+       "\n",
+       ".plan-strike {\n",
+       "    opacity: 0.4;\n",
+       "/*    text-decoration: line-through; */\n",
+       "}\n",
+       "\n",
+       "div.plan-container {\n",
+       "    display: grid;\n",
+       "    grid-template-columns: 50% 50%;\n",
+       "}\n",
+       "\n",
+       "/*\n",
+       " * this is to void xarray's html output to show the fallback textual representation\n",
+       " * see also\n",
+       "   * xarray.md and\n",
+       "   * https://github.com/damianavila/RISE/issues/594\n",
+       " */\n",
+       ".reveal pre.xr-text-repr-fallback {\n",
+       "    display: none;\n",
+       "}\n",
+       "\n",
+       "#toc-header, .toc-item li {\n",
+       "    margin: auto !important;\n",
+       "    color: #808080 !important;\n",
+       "}\n",
+       "\n",
+       "#toc, #toc-wrapper, .toc-item-num, #toc a, .toc {\n",
+       "    margin: auto !important;\n",
+       "    color: #00747b !important;\n",
+       "}\n",
+       "\n",
+       "#toc-wrapper {\n",
+       "    top: auto !important;\n",
+       "    bottom: auto !important;\n",
+       "    margin-top: 2rem !important;\n",
+       "    color: #00747b !important;\n",
+       "}\n",
+       "\n",
+       "\n",
+       "#rise-header {\n",
+       "    margin: 10px;\n",
+       "    left: 5%;\n",
+       "}\n",
+       "\n",
+       "#rise-footer {\n",
+       "    margin: 10px;\n",
+       "    right: 5%;\n",
+       "}\n",
+       "\n",
+       "#rise-backimage {\n",
+       "    opacity: 0.70;\n",
+       "}\n",
+       "\n",
+       ".reveal img {\n",
+       "    max-width: 100%;\n",
+       "}\n",
+       "\n",
+       "\n",
+       ".md-slide.title {\n",
+       "    position: relative;\n",
+       "    top: -50%;\n",
+       "    margin-left: 5%;\n",
+       "    font-size: 4em !important;\n",
+       "    line-height: 1.6;\n",
+       "}\n",
+       "</style>"
+      ],
+      "text/plain": [
+       "<IPython.core.display.HTML object>"
+      ]
+     },
+     "execution_count": 2,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
    "source": [
     "%presentation_style"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 3,
    "id": "6e892149-098a-42c7-b554-bbb83918888d",
    "metadata": {
     "init_cell": true,
@@ -66,7 +236,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 4,
    "id": "cd78d373-34af-4b57-8d16-dbf6f662331d",
    "metadata": {
     "init_cell": true,
@@ -79,7 +249,16 @@
      "ActiveScene"
     ]
    },
-   "outputs": [],
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "pygame 2.5.2 (SDL 2.28.2, Python 3.10.12)\n",
+      "Hello from the pygame community. https://www.pygame.org/contribute.html\n"
+     ]
+    }
+   ],
    "source": [
     "%autoreload\n",
     "import warnings\n",
@@ -684,7 +863,9 @@
    "id": "e2ec06ac-e9e8-4918-9ea8-8107a16f7104",
    "metadata": {},
    "source": [
-    "#### Cart "
+    "#### Cart\n",
+    "\n",
+    "We will use the DMDc method to fit a model on the data collected from the Cart environment. For that we will make sure of the [pykoopman](https://pykoopman.readthedocs.io/en/master/index.html) package."
    ]
   },
   {
@@ -727,7 +908,8 @@
    "source": [
     "display_array(\"A\", model.A)\n",
     "display_array(\"B\", model.B)\n",
-    "display_array(\"C\", model.C)"
+    "display_array(\"C\", model.C)\n",
+    "display_array(\"W\", model.W)"
    ]
   },
   {