New function mdgenspec and modified examples.

Examples/CS1_1.jl

@@ -4,7 +4,7 @@ using JLD2
 
 ## CS1_1  - Case-study example: Monitoring flight actuator faults
 #           No measurements of control surface angles are used
-println("Case study CS1_1 with Fig8.2 and Fig8.3")
+println("Case study CS1_1 with Fig8.2(fig1) and Fig8.3(fig2)")
 
 ## Part 1 - Model setup
 # load matrices of the aircraft multiple-model SYSACM, 
@@ -132,11 +132,11 @@ display([NormRu NormRd NormRfmRfnom])
 # generate figures
 y, tout, x = stepresp(Rftilde,10);
 include("Fig8_2.jl")
-Fig8_2 = f
+Fig8_2 = fig1
 
 y = [stepresp(Rtot[i][:,indf],10)[1] for i in 1:N];
 include("Fig8_3.jl")
-Fig8_3 = f
+Fig8_3 = fig2
 
 end  # module
 

Examples/CS1_2.jl

@@ -121,7 +121,7 @@ display([NormRu NormRd NormRfmRfnom])
 y = [stepresp(Rtot[i][:,indf],2)[1] for i in 1:N];
 tout = Vector(0:0.02:2.)
 include("Fig8_4.jl")
-Fig8_4 = f
+Fig8_4 = fig
 
 end  # module
 using Main.CS1_2

Examples/CS2_1.jl

@@ -5,7 +5,7 @@ using FaultDetectionTools, DescriptorSystems, LinearAlgebra,
 
 ## CS2_1  - Case-study example: Monitoring air data sensor faults
 #           Robust least order LTI synthesis
-println("Case study CS2_1 with Fig8.5, Fig8.6 and Fig8.7")
+println("Case study CS2_1 with Fig8.5(fig1), Fig8.6(fig2) and Fig8.7(fig3)")
 
 ## Part 1 - Model setup
 # load matrices of the aircraft multiple-model SYSACSM and 
@@ -81,7 +81,7 @@ end
 
 tout = Vector(0:0.1:10.)
 include("Fig8_5.jl")
-Fig8_5 = f
+Fig8_5 = fig1
 
 ##  Part 5 - Assesment of synthesis results for nominal synthesis
 
@@ -99,7 +99,7 @@ end
 
 tout = Vector(0:0.1:10.)
 include("Fig8_6.jl")
-Fig8_6 = f
+Fig8_6 = fig2
 
 
 ##  Part 6 - Assesment of synthesis results for mean value gains
@@ -196,7 +196,7 @@ display(norms)
 
 tout = Vector(0:0.1:10.)
 include("Fig8_7.jl")
-Fig8_7 = f
+Fig8_7 = fig3
 
 end  # module
 using Main.CS2_1

Examples/CS2_2.jl

@@ -86,7 +86,7 @@ display(Nintp)
 
 tout = Vector(0:0.1:10.)
 include("Fig8_8.jl")
-Fig8_8 = f
+Fig8_8 = fig
 
 end  # module
 using Main.CS2_2

Examples/Ex5_16c.jl

@@ -54,7 +54,7 @@ yl = y .- yerr; yu = y .+ yerr  # lower and upper bounds
 
 # plot step responses
 include("Fig5_2.jl")
-Fig5_2 = f
+Fig5_2 = fig
 
 end
 using Main.Ex5_16c

Examples/Ex6_1c.jl

@@ -2,7 +2,7 @@ module Ex6_1c
 using FaultDetectionTools, DescriptorSystems, LinearAlgebra, Test
 
 # Example 6.1c - Solution of an EMDP
-println("Example 6.1c with Fig6.1 and Fig6.2")
+println("Example 6.1c with Fig6.1(fig1) and Fig6.2(fig2)")
 
 # Lateral aircraft model without faults
 A = [-.4492 0.046 .0053 -.9926;

Examples/Ex7_1.jl

@@ -5,7 +5,7 @@ using DescriptorSystems, Polynomials
 Makie.inline!(false)
 
 # Example 7.1 - Illustrating polynomial root sensitivity 
-println("Example 7.1 with Fig7_1")
+println("Example 7.1 with Fig7.1")
 
 
 Makie.inline!(false)

Examples/Ex7_1a.jl

@@ -6,7 +6,7 @@ Makie.inline!(false)
 
 
 # Example 7.1 - Illustrating high precision polynomial root computation 
-println("Example 7.1 with alternative Fig7_1a")
+println("Example 7.1 with alternative Fig7.1a")
 
 
 pexact = BigFloat.(Vector(-25.:1.:-1.))

Examples/Fig5_2.jl

@@ -4,15 +4,16 @@
 #    yl   - the lower bounds of step responses
 #    yu   - the upper bounds of step responses 
 #    tout - the time samples  
-using CairoMakie, LaTeXStrings
+using Makie, CairoMakie, LaTeXStrings
+Makie.inline!(false)
 
 title_u = [ latexstring("From: \$f_1\$")  latexstring("From: \$f_2\$")  latexstring("From: \$u_1\$")  latexstring("From: \$u_2\$")]
 ylabel_r = [ latexstring("To: \$r_1\$")  latexstring("To: \$r_2\$") ]
 
 ns, p, m = size(y)
-f = Figure(resolution = (800, 600))
+fig = Figure(resolution = (800, 600))
 
-axs = [Axis(f[row, col]) for row in 1:p, col in 1:m]
+axs = [Axis(fig[row, col]) for row in 1:p, col in 1:m]
 
 for row in 1:p
     for col in 1:m
@@ -31,17 +32,17 @@ for row in 1:p
     end
 end
 
-Label(f[0, :], text = "Step Responses",  fontsize = 20, 
+Label(fig[0, :], text = "Step Responses",  fontsize = 20, 
                font = "TeX Gyre Heros Bold", valign = :bottom, 
                padding = (0, 0, -10, 0))
-Label(f[end+1, :], text = "Time (seconds)", font = "TeX Gyre Heros Bold",
+Label(fig[end+1, :], text = "Time (seconds)", font = "TeX Gyre Heros Bold",
                    valign = :top,padding = (0, 0, 5, -10))
-Label(f[0:end, 0], text = "Residuals", font = "TeX Gyre Heros Bold", rotation = pi/2, 
+Label(fig[0:end, 0], text = "Residuals", font = "TeX Gyre Heros Bold", rotation = pi/2, 
                    valign = :center, padding = (0, -20, 0, 0))
 axs[1,1].yticks = [0,0.5,1,1.5]
 axs[2,1].yticks = [0,0.5,1,1.5]
 
-f
+fig
 
 # comment out next line to save plot
-# save("Fig5_2.pdf", f, resolution = (800, 600))
+# save("Fig5_2.pdf", fig, resolution = (800, 600))

Examples/Fig8_2.jl

@@ -11,9 +11,9 @@ yticks = [[-20,0,20],[-20,0,20],[-20,0,20],[0,10,20],[0,1,2],[0,1,2]]
 yhighs = [20,20,20,20,2,2]
 ylows = [-20,-20,-20,-1,-0.1,-0.1]
 ns, p, m = size(y)
-f = Figure(resolution = (800, 600))
+fig1 = Figure(resolution = (800, 600))
 
-axs = [Axis(f[row, col]) for row in 1:p, col in 1:m]
+axs = [Axis(fig1[row, col]) for row in 1:p, col in 1:m]
 
 for row in 1:p
     for col in 1:m
@@ -33,10 +33,10 @@ for row in 1:p
     end
 end
 
-Label(f[end+1, :], text = "Time (seconds)", font = "TeX Gyre Heros Bold",
+Label(fig1[end+1, :], text = "Time (seconds)", font = "TeX Gyre Heros Bold",
                    valign = :top,padding = (0, 0, 5, -10))
 
-f
+fig1
 
 # comment out next line to save plot
-#save("Fig8_2.pdf", f, resolution = (800, 600))
+#save("Fig8_2.pdf", fig1, resolution = (800, 600))

Examples/Fig8_3.jl

@@ -13,9 +13,9 @@ yticks = [[-50,0,50],[-50,0,50],[-50,0,50],[-50,0,50],[-10,0,10],["   0","   1",
 yhighs = [50,50,50,51,10,2]
 ylows = [-50,-51,-51,-50,-10,-0.2]
 ns, p, m = size(y[1])
-f = Figure(resolution = (800, 600))
+fig2 = Figure(resolution = (800, 600))
 
-axs = [Axis(f[row, col]) for row in 1:p, col in 1:m]
+axs = [Axis(fig2[row, col]) for row in 1:p, col in 1:m]
 
 for row in 1:p
     for col in 1:m
@@ -37,10 +37,10 @@ for row in 1:p
     end
 end
 
-Label(f[end+1, :], text = "Time (seconds)", font = "TeX Gyre Heros Bold",
+Label(fig2[end+1, :], text = "Time (seconds)", font = "TeX Gyre Heros Bold",
                    valign = :top,padding = (0, 0, 5, -10))
 
-f
+fig2
 
 # comment out next line to save plot
-#save("Fig8_3.pdf", f, resolution = (800, 600))
+#save("Fig8_3.pdf", fig2, resolution = (800, 600))

Examples/Fig8_4.jl

@@ -9,9 +9,9 @@ N = length(y)
 title_u = reshape([ latexstring("From: \$f_$i\$")  for i in 1:mf],1,mf)
 ylabel_r = reshape([ latexstring("To: \$r_$i\$")  for i in 1:mf],1,mf)
 ns, pp, mm = size(y[1])
-f = Figure(resolution = (800, 600))
+fig = Figure(resolution = (800, 600))
 
-axs = [Axis(f[row, col]) for row in 1:pp, col in 1:mm]
+axs = [Axis(fig[row, col]) for row in 1:pp, col in 1:mm]
 
 for row in 1:pp
     for col in 1:mm
@@ -34,10 +34,10 @@ for row in 1:pp
     end
 end
 
-Label(f[end+1, :], text = "Time (seconds)", font = "TeX Gyre Heros Bold",
+Label(fig[end+1, :], text = "Time (seconds)", font = "TeX Gyre Heros Bold",
                    valign = :top,padding = (0, 0, 5, -10))
 
-f
+fig
 
 # comment out next line to save plot
-# save("Fig8_4.pdf", f, resolution = (800, 600))
+# save("Fig8_4.pdf", fig, resolution = (800, 600))

Examples/Fig8_5.jl

@@ -9,9 +9,9 @@ N = length(y)
 title_u = [ L"From: $f_1$"  L"From: $f_2$"  L"From: $u_1$"  L"From: $u_2$" L"From: $u_3$" L"From: $d_1$"  L"From: $d_2$"]
 ylabel_r = [ latexstring("To: \$r_1\$")  latexstring("To: \$r_2\$") ]
 ns, pp, mm = size(y[1])
-f = Figure(resolution = (800, 500))
+fig1 = Figure(resolution = (800, 500))
 
-axs = [Axis(f[row, col]) for row in 1:pp, col in 1:mm]
+axs = [Axis(fig1[row, col]) for row in 1:pp, col in 1:mm]
 inputs = [mu+md .+ (1:mf); 1:mu+md]
 for row in 1:pp
     for col in 1:mm
@@ -34,10 +34,10 @@ for row in 1:pp
     end
 end
 
-Label(f[end+1, :], text = "Time (seconds)", font = "TeX Gyre Heros Bold",
+Label(fig1[end+1, :], text = "Time (seconds)", font = "TeX Gyre Heros Bold",
                    valign = :top,padding = (0, 0, 5, -10))
 
-f
+fig1
 
 # comment out next line to save plot
-# save("Fig8_5.pdf", f, resolution = (800, 500))
+# save("Fig8_5.pdf", fig1, resolution = (800, 500))

Examples/Fig8_6.jl

@@ -12,9 +12,9 @@ yticks = [["   -1", "0", "1", "2"],[-50,0,50,100]]
 yhighs = [2,100]
 ylows = [-1,-50]
 ns, pp, mm = size(y[1])
-f = Figure(resolution = (800, 500))
+fig2 = Figure(resolution = (800, 500))
 
-axs = [Axis(f[row, col]) for row in 1:pp, col in 1:mm]
+axs = [Axis(fig2[row, col]) for row in 1:pp, col in 1:mm]
 inputs = [mu+md .+ (1:mf); 1:mu+md]
 for row in 1:pp
     for col in 1:mm
@@ -37,10 +37,10 @@ for row in 1:pp
     end
 end
 
-Label(f[end+1, :], text = "Time (seconds)", font = "TeX Gyre Heros Bold",
+Label(fig2[end+1, :], text = "Time (seconds)", font = "TeX Gyre Heros Bold",
                    valign = :top,padding = (0, 0, 5, -10))
 
-f
+fig2
 
 # comment out next line to save plot
-# save("Fig8_6.pdf", f, resolution = (800, 500))
+# save("Fig8_6.pdf", fig2, resolution = (800, 500))

Examples/Fig8_7.jl

@@ -9,9 +9,9 @@ N = length(y)
 title_u = [ L"From: $f_1$"  L"From: $f_2$"  L"From: $u_1$"  L"From: $u_2$" L"From: $u_3$" L"From: $d_1$"  L"From: $d_2$"]
 ylabel_r = [ latexstring("To: \$r_1\$")  latexstring("To: \$r_2\$") ]
 ns, pp, mm = size(y[1])
-f = Figure(resolution = (800, 500))
+fig3 = Figure(resolution = (800, 500))
 
-axs = [Axis(f[row, col]) for row in 1:pp, col in 1:mm]
+axs = [Axis(fig3[row, col]) for row in 1:pp, col in 1:mm]
 inputs = [mu+md .+ (1:mf); 1:mu+md]
 for row in 1:pp
     for col in 1:mm
@@ -34,10 +34,10 @@ for row in 1:pp
     end
 end
 
-Label(f[end+1, :], text = "Time (seconds)", font = "TeX Gyre Heros Bold",
+Label(fig3[end+1, :], text = "Time (seconds)", font = "TeX Gyre Heros Bold",
                    valign = :top,padding = (0, 0, 5, -10))
 
-f
+fig3
 
 # comment out next line to save plot
-# save("Fig8_7.pdf", f, resolution = (800, 500))
+# save("Fig8_7.pdf", fig3, resolution = (800, 500))

Examples/Fig8_8.jl

@@ -9,9 +9,9 @@ N = length(y)
 title_u = [ L"From: $f_1$"  L"From: $f_2$"  L"From: $u_1$"  L"From: $u_2$" L"From: $u_3$" L"From: $d_1$"  L"From: $d_2$"]
 ylabel_r = [ latexstring("To: \$r_1\$")  latexstring("To: \$r_2\$") ]
 ns, pp, mm = size(y[1])
-f = Figure(resolution = (800, 500))
+fig = Figure(resolution = (800, 500))
 
-axs = [Axis(f[row, col]) for row in 1:pp, col in 1:mm]
+axs = [Axis(fig[row, col]) for row in 1:pp, col in 1:mm]
 inputs = [mu+md .+ (1:mf); 1:mu+md]
 for row in 1:pp
     for col in 1:mm
@@ -34,10 +34,10 @@ for row in 1:pp
     end
 end
 
-Label(f[end+1, :], text = "Time (seconds)", font = "TeX Gyre Heros Bold",
+Label(fig[end+1, :], text = "Time (seconds)", font = "TeX Gyre Heros Bold",
                    valign = :top,padding = (0, 0, 5, -10))
 
-f
+fig
 
 # comment out next line to save plot
-# save("Fig8_8.pdf", f, resolution = (800, 500))
+# save("Fig8_8.pdf", fig, resolution = (800, 500))

Project.toml

@@ -1,7 +1,7 @@
 name = "FaultDetectionTools"
 uuid = "fbfc5fa0-0005-11ec-19bb-b3a492551a0b"
 authors = ["Andreas Varga <[email protected]>"]
-version = "1.1.1"
+version = "1.2.0"
 
 [deps]
 Combinatorics = "861a8166-3701-5b0c-9a16-15d98fcdc6aa"

README.md

@@ -51,7 +51,7 @@ using FaultDetectionTools
 cd(joinpath(pkgdir(FaultDetectionTools), "Examples"))
 include("CS2_1.jl")
 ````
-_Note:_ For the execution of the test examples and case study examples, the packages **Measurements**, **Makie**, **CairoMakie**, **LaTeXStrings**, **JLD2** and **Optim** are also required and must be additionally installed. 
+_Note:_ For the execution of the test examples and case study examples, the packages **Measurements**, **GenericLinearAlgebra**, **Makie**, **CairoMakie**, **LaTeXStrings**, **JLD2** and **Optim** are also required and must be additionally installed. 
 
 ## About
 

ReleaseNotes.md

@@ -1,5 +1,9 @@
 # Release Notes
 
+## Version 1.2.0
+
+New analysis function `mdgenspec` and changed functionality and improvements in `mdsspec` and `mdspec`.  
+
 ## Version 1.1.1
 
 Version bump to use Makie 0.19. Bugs fixed in MDObjects.jl.

docs/src/MDanalysis.md

@@ -1,9 +1,11 @@
 # Analysis of model detection synthesis models
 
+* **[`mdgenspec`](@ref)**  Generation of achievable model detection specifications.
 * **[`mddist`](@ref)**  Computation of distances between component models.
 * **[`mddist2c`](@ref)**  Computation of pairwise distances between two sets of component models.
 
 ```@docs
+mdgenspec
 mddist
 mddist2c
 ```

docs/src/index.md

@@ -71,6 +71,7 @@ The available functions in the current version of the `FaultDetectionTools.jl` p
 
 **Analysis of model detection synthesis models**
 
+* **[`mdgenspec`](@ref)**  Generation of achievable model detection specifications.
 * **[`mddist`](@ref)**  Computation of distances between component models.
 * **[`mddist2c`](@ref)**  Computation of pairwise distances between two sets of component models.
 

src/FDIanalysis.jl

@@ -194,7 +194,7 @@ The keyword argument `sdeg = β` specifies a prescribed stability degree `β` fo
 generated candidate filters, such that the real parts of
 filters poles must be less than or equal to `β`, in the continuous-time case, and 
 the magnitudes of filter poles must be less than or
-equal to `β`, in the discrete-time case. If `sdeg = missing` then no then no stabilization is performed if and `FDFreq = missing`.
+equal to `β`, in the discrete-time case. If `sdeg = missing` then no stabilization is performed if `FDFreq = missing`.
 If `sdeg = missing` and `FDFreq = freq`, then the following default values are employed : `β = -0.05`, in continuous-time case, and  `β = 0.95`, 
 in discrete-time case.