Roadmap

Current state — v0.2.2

The library is complete and tested (222 tests, Python 3.10–3.12, 90 % coverage).

Module	Status
synapsys.core — TransferFunction, StateSpace, TransferFunctionMatrix (continuous + discrete)	Done
synapsys.algorithms — PID (anti-windup), LQR (Q/R validated)	Done
synapsys.agents — PlantAgent, ControllerAgent, HardwareAgent, FIPA ACL, SyncEngine	Done
synapsys.broker — MessageBroker, Topic, SharedMemoryBackend, ZMQBrokerBackend	Done
synapsys.transport — SharedMemory (zero-copy), ZMQ (PUB/SUB, REQ/REP)	Done
synapsys.api — tf(), ss(), c2d(), step(), bode(), feedback() (SISO + MIMO)	Done
synapsys.hw — Interface defined, no concrete implementations yet	Pending

---

v0.1.0 ✅ — Foundation

• SISO LTI (TransferFunction, StateSpace), PID, LQR, multi-agent, shared memory, ZMQ, hardware abstraction.

v0.2.0 ✅ — MIMO

• TransferFunctionMatrix — MIMO transfer-function matrix with operator algebra, to_state_space(), poles/zeros/stability.
• MIMO feedback() — state-space closed-loop for StateSpace and TransferFunctionMatrix plants.
• Transmission zeros via Rosenbrock system-matrix pencil.
• lqr() Q positive semi-definiteness validation.
• Covariant LTI type annotations for mypy/pyright.

---

v0.3 — Advanced analysis

Core:

• Transport delay — Pade approximation pade(T, n)
• Phase and gain margin — margin(G) returning $G_m$, $\phi_m$, $\omega_{gc}$, $\omega_{pc}$
• Root locus — rlocus(G) for root locus analysis
• Pole placement — place(A, B, poles) using Ackermann's algorithm

Algorithms:

• LQI — LQR with integral action for disturbance rejection
• Observers — ObserverAgent with Kalman filter and Luenberger observer

---

v0.4 — Advanced control

• MPC — Model Predictive Control with sliding horizon and state/input constraints
• Adaptive control — MRAC (Model Reference Adaptive Control) for plants with varying parameters
• Real-time reconfiguration — swap the control law without stopping the simulation

---

v0.4 — Distributed infrastructure

• OS semaphores — protect SharedMemoryTransport against race conditions in multi-process
• Cross-process lock-step barrier — deterministic synchronisation using multiprocessing.Barrier
• Distributed clock protocol — coordinate $t_k$ between agents on different machines
• Fault tolerance — agent keeps running with ZOH when its peer disconnects

---

v0.5 — Hardware

• Serial/UART — SerialHardwareInterface for microcontrollers (ESP32, STM32)
• OPC-UA — interface for PLCs and industrial SCADA systems
• FPGA/FPAA — low-latency interface for analogue-digital co-simulation
• ROS 2 bridge — ROSTransport for robotics integration

---

v1.0 — Graphical interface

• JSON netlist parser — load a block diagram from a JSON/YAML file
• REST API — FastAPI exposing the simulation engine as a service
• Web visual editor — React frontend with React Flow for drag-and-drop block diagrams
• Real-time scope — WebSocket for streaming simulation data to the browser

---

Long-term ideas

• Antifragility — algorithms that reconfigure and improve under perturbations
• Digital twins — continuous synchronisation between model and physical plant
• Compilation to C — export the control law to embedded C code
• Julia integration — bridge to high-performance ODE solvers