Merge pull request #641 from JuliaControl/delayperformance

improve performance of freqresp for delay systems

Author: baggepinnen

src/delay_systems.jl

@@ -2,23 +2,25 @@ function freqresp(sys::DelayLtiSystem, ω::AbstractVector{T}) where {T <: Real}
     ny = noutputs(sys)
     nu = ninputs(sys)
 
-    P_fr = freqresp(sys.P.P, ω);
+    P_fr = freqresp(sys.P.P, ω).parent
 
-    G_fr = zeros(eltype(P_fr), length(ω), ny, nu)
+    G_fr = zeros(eltype(P_fr), ny, nu, length(ω))
 
-    for ω_idx=1:length(ω)
-        P11_fr = P_fr[ω_idx, 1:ny, 1:nu]
-        P12_fr = P_fr[ω_idx, 1:ny, nu+1:end]
-        P21_fr = P_fr[ω_idx, ny+1:end, 1:nu]
-        P22_fr = P_fr[ω_idx, ny+1:end, nu+1:end]
+    cache = cis.(ω[1].*sys.Tau)
 
-        delay_matrix_inv_fr = Diagonal(exp.(im*ω[ω_idx]*sys.Tau)) # Frequency response of the diagonal matrix with delays
+    @views for ω_idx=1:length(ω)
+        P11_fr = P_fr[1:ny, 1:nu, ω_idx]
+        P12_fr = P_fr[1:ny, nu+1:end, ω_idx]
+        P21_fr = P_fr[ny+1:end, 1:nu, ω_idx]
+        P22_fr = P_fr[ny+1:end, nu+1:end, ω_idx]
+        @. cache = cis(ω[ω_idx]*sys.Tau)
+        delay_matrix_inv_fr = Diagonal(cache) # Frequency response of the diagonal matrix with delays
         # Inverse of the delay matrix, so there should not be any minus signs in the exponents
 
-        G_fr[ω_idx,:,:] .= P11_fr + P12_fr/(delay_matrix_inv_fr - P22_fr)*P21_fr # The matrix is invertible (?!)
+        G_fr[:,:,ω_idx] .= P11_fr .+ P12_fr/(delay_matrix_inv_fr - P22_fr)*P21_fr # The matrix is invertible (?!)
     end
 
-    return G_fr
+    return PermutedDimsArray(G_fr, (3,1,2))
 end
 
 function evalfr(sys::DelayLtiSystem, s)