Re: [python-control-discuss] Fwd: SF.net SVN: python-control:[21] trunk

[Tony V. <ton...@al...>]

Got it this time.

-tv


On Jun 6, 2010, at 14:25, Richard Murray <mu...@cd...> wrote:

> OK, I've now set it up so that SVN commit messages go to the discuss  
> list, so we should all see them.
>
> -richard
>
> On 6 Jun 2010, at 14:11 , Tony Vanelli wrote:
>
>> Doesn't look like I received it. I also checked my spam folder just  
>> in
>> case.
>>
>> -tv
>>
>>
>> On Jun 6, 2010, at 10:31, Richard Murray <mu...@cd...>  
>> wrote:
>>
>>> Tony and Erik:
>>>
>>> Can you let me know if you got the note below from SourceForge.  I
>>> just posted some changes to the package (needed them for an example
>>> I'm putting together) and want to make sure that everyone is getting
>>> copies of the changes that got posted.  If not, I'll sort out what
>>> we need to change to make sure you get these sorts of e-mails.
>>>
>>> Thanks.
>>>
>>> -richard
>>>
>>> Begin forwarded message:
>>>
>>>> From: mur...@us...
>>>> Date: 6 June 2010 10:29:43 PDT
>>>> To: mu...@cd...
>>>> Subject: SF.net SVN: python-control:[21] trunk
>>>>
>>>> Revision: 21
>>>>       http://python-control.svn.sourceforge.net/python-control/?rev=21&view=rev
>>>> Author:   murrayrm
>>>> Date:     2010-06-06 17:29:42 +0000 (Sun, 06 Jun 2010)
>>>>
>>>> Log Message:
>>>> -----------
>>>> Added changes to allow bode() to plot frequency resp for multiple
>>>> systems
>>>> * freqplot.bode now allows a list as the first argument
>>>> * Added matlab.bode wrapper for MATLAB syntax: bode(sys1, ...,  
>>>> sysN)
>>>>
>>>> Added automatic frequency range determination in bode
>>>> * Computes range of frequencies based on pole/zero locations
>>>> * Eventually need to split this out as a ctrlutil function for use
>>>> elsewhere
>>>>
>>>> Modified Paths:
>>>> --------------
>>>> trunk/ChangeLog
>>>> trunk/src/ctrlutil.py
>>>> trunk/src/freqplot.py
>>>> trunk/src/matlab.py
>>>> trunk/src/pzmap.py
>>>> trunk/src/statesp.py
>>>> trunk/src/xferfcn.py
>>>>
>>>> Modified: trunk/ChangeLog
>>>> ===================================================================
>>>> --- trunk/ChangeLog    2010-06-01 02:08:20 UTC (rev 20)
>>>> +++ trunk/ChangeLog    2010-06-06 17:29:42 UTC (rev 21)
>>>> @@ -1,3 +1,25 @@
>>>> +2010-06-06  Richard Murray  <mu...@su...>
>>>> +
>>>> +    * src/matlab.py (bode): created a wrapper that allows MATLAB
>>>> style
>>>> +    arguments for bode (eg, bode(sys1, sys2))
>>>> +
>>>> +    * src/ctrlutil.py (issys): added new function to check if an
>>>> object
>>>> +    is a system (state space or transfer function).  Will  
>>>> generalize
>>>> +    this latter to look for other compatible classes.
>>>> +
>>>> +    * src/freqplot.py (bode): Compute frequency range of bode plot
>>>> based
>>>> +    on poles and zeros
>>>> +    (bode): Allow bode plot to be passed a list (or tuple) as the
>>>> first
>>>> +    argument, in which case multiple bode plots are generated
>>>> +
>>>> +    * src/statesp.py (StateSpace.zeros): new function to compute
>>>> zeros
>>>> +    for a state space system
>>>> +    (StateSpace): defined new functions to compute poles of a  
>>>> state
>>>> +    space system
>>>> +
>>>> +    * src/xferfcn.py (TransferFunction): defined new functions to
>>>> +    compute poles and zeros of a transfer function.
>>>> +
>>>> 2010-05-31  Richard Murray  <mu...@su...>
>>>>
>>>>  * src/exception.py (ControlNotImplemented): added new exception,
>>>> to
>>>>
>>>> Modified: trunk/src/ctrlutil.py
>>>> ===================================================================
>>>> --- trunk/src/ctrlutil.py    2010-06-01 02:08:20 UTC (rev 20)
>>>> +++ trunk/src/ctrlutil.py    2010-06-06 17:29:42 UTC (rev 21)
>>>> @@ -40,6 +40,12 @@
>>>> #
>>>> # $Id$
>>>>
>>>> +# Packages that we need access to
>>>> +import scipy as sp
>>>> +import statesp
>>>> +import xferfcn
>>>> +
>>>> +# Specific functions that we use
>>>> from scipy import pi
>>>>
>>>> # Utility function to unwrap an angle measurement
>>>> @@ -78,3 +84,12 @@
>>>>
>>>>  # return the updated list
>>>>  return angle
>>>> +
>>>> +# Determine if an object is a system
>>>> +def issys(object):
>>>> +    # Check for a member of one of the classes that we define here
>>>> +    if (isinstance(object, (statesp.StateSpace,
>>>> xferfcn.TransferFunction))):
>>>> +        return True
>>>> +
>>>> +    # Didn't find anything that matched
>>>> +    return False
>>>>
>>>> Modified: trunk/src/freqplot.py
>>>> ===================================================================
>>>> --- trunk/src/freqplot.py    2010-06-01 02:08:20 UTC (rev 20)
>>>> +++ trunk/src/freqplot.py    2010-06-06 17:29:42 UTC (rev 21)
>>>> @@ -42,11 +42,12 @@
>>>>
>>>> import matplotlib.pyplot as plt
>>>> import scipy as sp
>>>> +import numpy as np
>>>> from ctrlutil import unwrap
>>>> from bdalg import feedback
>>>>
>>>> # Bode plot
>>>> -def bode(sys, omega=None, dB=False, Hz=False):
>>>> +def bode(syslist, omega=None, dB=False, Hz=False):
>>>>  """Bode plot for a system
>>>>
>>>>  Usage
>>>> @@ -57,8 +58,8 @@
>>>>
>>>>  Parameters
>>>>  ----------
>>>> -    sys : linsys
>>>> -        Linear input/output system
>>>> +    syslist : linsys
>>>> +        List of linear input/output systems (single system is OK)
>>>>  omega : freq_range
>>>>      Range of frequencies (list or bounds) in rad/sec
>>>>  dB : boolean
>>>> @@ -76,45 +77,80 @@
>>>>  1. Use (mag, phase, freq) = sys.freqresp(freq) to generate the
>>>>     frequency response for a system.
>>>>  """
>>>> +    # If argument was a singleton, turn it into a list
>>>> +    if (not getattr(syslist, '__iter__', False)):
>>>> +        syslist = (syslist,)
>>>> +
>>>> +    #
>>>>  # Select a default range if none is provided
>>>> +    #
>>>> +    # This code looks at the poles and zeros of all of the systems
>>>> that
>>>> +    # we are plotting and sets the frequency range to be one
>>>> decade above
>>>> +    # and below the min and max feature frequencies, rounded to
>>>> the nearest
>>>> +    # integer.  It excludes poles and zeros at the origin.  If no
>>>> features
>>>> +    # are found, it turns logspace(-1, 1)
>>>> +    #
>>>>  if (omega == None):
>>>> -        omega = sp.logspace(-2, 2);
>>>> +        # Find the list of all poles and zeros in the systems
>>>> +        features = np.array(())
>>>> +        for sys in syslist:
>>>> +            # Add new features to the list
>>>> +            features = np.concatenate((features, np.abs 
>>>> (sys.poles)))
>>>> +            features = np.concatenate((features, np.abs 
>>>> (sys.zeros)))
>>>>
>>>> -    # Get the magnitude and phase of the system
>>>> -    mag, phase, omega = sys.freqresp(omega)
>>>> -    if Hz:
>>>> -        omega = omega/(2*sp.pi)
>>>> -    if dB:
>>>> -        mag = 20*sp.log10(mag)
>>>> -    phase = unwrap(phase*180/sp.pi, 360)
>>>> +        # Get rid of poles and zeros at the origin
>>>> +        features = features[features != 0];
>>>>
>>>> -    # Get the dimensions of the current axis, which we will divide
>>>> up
>>>> -    #! TODO: Not current implemented; just use subplot for now
>>>> +        # Make sure there is at least one point in the range
>>>> +        if (features.shape[0] == 0): features = [1];
>>>>
>>>> -    # Magnitude plot
>>>> -    plt.subplot(211);
>>>> -    if dB:
>>>> -        plt.semilogx(omega, mag)
>>>> -    else:
>>>> -        plt.loglog(omega, mag)
>>>> -    plt.grid(True)
>>>> -    plt.grid(True, which='minor')
>>>> -    if dB:
>>>> -        plt.ylabel("Magnitude (dB)")
>>>> -    else:
>>>> -        plt.ylabel("Magnitude")
>>>> +        # Take the log of the features
>>>> +        features = np.log10(features)
>>>>
>>>> -    # Phase plot
>>>> -    plt.subplot(212);
>>>> -    plt.semilogx(omega, phase)
>>>> -    plt.grid(True)
>>>> -    plt.grid(True, which='minor')
>>>> -    plt.ylabel("Phase (deg)")
>>>> -    if Hz:
>>>> -        plt.xlabel("Frequency (Hz)")
>>>> -    else:
>>>> -        plt.xlabel("Frequency (rad/sec)")
>>>> +        # Set the to be an order of magnitude beyond any features
>>>> +        omega = sp.logspace(np.floor(np.min(features))-1,
>>>> +                            np.ceil(np.max(features))+1)
>>>>
>>>> +    for sys in syslist:
>>>> +        # Get the magnitude and phase of the system
>>>> +        mag, phase, omega = sys.freqresp(omega)
>>>> +        if Hz: omega = omega/(2*sp.pi)
>>>> +        if dB: mag = 20*sp.log10(mag)
>>>> +        phase = unwrap(phase*180/sp.pi, 360)
>>>> +
>>>> +        # Get the dimensions of the current axis, which we will
>>>> divide up
>>>> +        #! TODO: Not current implemented; just use subplot for now
>>>> +
>>>> +        # Magnitude plot
>>>> +        plt.subplot(211);
>>>> +        if dB:
>>>> +            plt.semilogx(omega, mag)
>>>> +            plt.ylabel("Magnitude (dB)")
>>>> +        else:
>>>> +            plt.loglog(omega, mag)
>>>> +            plt.ylabel("Magnitude")
>>>> +
>>>> +        # Add a grid to the plot
>>>> +        plt.grid(True)
>>>> +        plt.grid(True, which='minor')
>>>> +        plt.hold(True);
>>>> +
>>>> +        # Phase plot
>>>> +        plt.subplot(212);
>>>> +        plt.semilogx(omega, phase)
>>>> +        plt.hold(True)
>>>> +
>>>> +        # Add a grid to the plot
>>>> +        plt.grid(True)
>>>> +        plt.grid(True, which='minor')
>>>> +        plt.ylabel("Phase (deg)")
>>>> +
>>>> +        # Label the frequency axis
>>>> +        if Hz:
>>>> +            plt.xlabel("Frequency (Hz)")
>>>> +        else:
>>>> +            plt.xlabel("Frequency (rad/sec)")
>>>> +
>>>>  return (211, 212)
>>>>
>>>> # Nyquist plot
>>>>
>>>> Modified: trunk/src/matlab.py
>>>> ===================================================================
>>>> --- trunk/src/matlab.py    2010-06-01 02:08:20 UTC (rev 20)
>>>> +++ trunk/src/matlab.py    2010-06-06 17:29:42 UTC (rev 21)
>>>> @@ -50,6 +50,7 @@
>>>>
>>>> # Libraries that we make use of
>>>> import scipy as sp              # SciPy library (used all over)
>>>> +import numpy as np              # NumPy library
>>>> import scipy.signal as signal   # Signal processing library
>>>>
>>>> # Import MATLAB-like functions that are defined in other packages
>>>> @@ -57,11 +58,16 @@
>>>> from scipy.signal import lsim, impulse, step
>>>> from scipy import linspace, logspace
>>>>
>>>> -# Import MATLAB-like functions that belong elsewhere in python-
>>>> control
>>>> -from ctrlutil import unwrap
>>>> -from freqplot import bode, nyquist, gangof4
>>>> +# Control system library
>>>> +import ctrlutil
>>>> +import freqplot
>>>> from statesp import StateSpace
>>>> from xferfcn import TransferFunction
>>>> +from exception import *
>>>> +
>>>> +# Import MATLAB-like functions that can be used as-is
>>>> +from ctrlutil import unwrap
>>>> +from freqplot import nyquist, gangof4
>>>> from bdalg import series, parallel, negate, feedback
>>>> from pzmap import pzmap
>>>> from statefbk import place, lqr
>>>> @@ -304,3 +310,63 @@
>>>> def freqresp(H, omega):
>>>>  """Return the frequency response for an object H at frequency
>>>> omega"""
>>>>  return H.freqresp(omega)
>>>> +
>>>> +# Bode plots
>>>> +def bode(*args, **keywords):
>>>> +    """Bode plot of the frequency response
>>>> +
>>>> +    Usage
>>>> +    =====
>>>> +    bode(sys)
>>>> +    bode(sys, w)
>>>> +    bode(sys1, sys2, ..., sysN)
>>>> +    bode(sys1, sys2, ..., sysN, w)
>>>> +    bode(sys1, 'plotstyle1', ..., sysN, 'plotstyleN')
>>>> +    """
>>>> +
>>>> +    # If the first argument is a list, then assume python-control
>>>> calling format
>>>> +    if (getattr(args[0], '__iter__', False)):
>>>> +        return freqplot.bode(*args, **keywords)
>>>> +
>>>> +    # Otherwise, run through the arguments and collect up  
>>>> arguments
>>>> +    syslist = []; plotstyle=[]; omega=None;
>>>> +    i = 0;
>>>> +    while i < len(args):
>>>> +        # Check to see if this is a system of some sort
>>>> +        if (ctrlutil.issys(args[i])):
>>>> +            # Append the system to our list of systems
>>>> +            syslist.append(args[i])
>>>> +            i += 1
>>>> +
>>>> +            # See if the next object is a plotsytle (string)
>>>> +            if (i < len(args) and isinstance(args[i], str)):
>>>> +                plotstyle.append(args[i])
>>>> +                i += 1
>>>> +
>>>> +            # Go on to the next argument
>>>> +            continue
>>>> +
>>>> +        # See if this is a frequency list
>>>> +        elif (isinstance(args[i], (list, np.ndarray))):
>>>> +            omega = args[i]
>>>> +            i += 1
>>>> +            break
>>>> +
>>>> +        else:
>>>> +            raise ControlArgument("unrecognized argument type")
>>>> +
>>>> +    # Check to make sure that we processed all arguments
>>>> +    if (i < len(args)):
>>>> +        raise ControlArgument("not all arguments processed")
>>>> +
>>>> +    # Check to make sure we got the same number of plotstyles as
>>>> systems
>>>> +    if (len(plotstyle) != 0 and len(syslist) != len(plotstyle)):
>>>> +        raise ControlArgument("number of systems and plotstyles
>>>> should be equal")
>>>> +
>>>> +    # Warn about unimplemented plotstyles
>>>> +    #! TODO: remove this when plot styles are implemented in bode 
>>>> ()
>>>> +    if (len(plotstyle) != 0):
>>>> +        print("Warning (matabl.bode): plot styles not  
>>>> implemented");
>>>> +
>>>> +    # Call the bode command
>>>> +    return freqplot.bode(syslist, omega, **keywords)
>>>>
>>>> Modified: trunk/src/pzmap.py
>>>> ===================================================================
>>>> --- trunk/src/pzmap.py    2010-06-01 02:08:20 UTC (rev 20)
>>>> +++ trunk/src/pzmap.py    2010-06-06 17:29:42 UTC (rev 21)
>>>> @@ -45,6 +45,7 @@
>>>> import xferfcn
>>>>
>>>> # Compute poles and zeros for a system
>>>> +#! TODO: extend this to handle state space systems
>>>> def pzmap(sys, Plot=True):
>>>>  """Plot a pole/zero map for a transfer function"""
>>>>  if (isinstance(sys, xferfcn.TransferFunction)):
>>>>
>>>> Modified: trunk/src/statesp.py
>>>> ===================================================================
>>>> --- trunk/src/statesp.py    2010-06-01 02:08:20 UTC (rev 20)
>>>> +++ trunk/src/statesp.py    2010-06-06 17:29:42 UTC (rev 21)
>>>> @@ -98,6 +98,18 @@
>>>>      #! TODO: Not implemented
>>>>      return None
>>>>
>>>> +    # Compute poles and zeros
>>>> +    def poles(self): return sp.roots(sp.poly(self.A))
>>>> +    def zeros(self):
>>>> +        den = sp.poly1d(sp.poly(self.A))
>>>> +
>>>> +        # Compute the numerator based on zeros
>>>> +        #! TODO: This is currently limited to SISO systems
>>>> +        num = sp.poly1d(\
>>>> +            sp.poly(self.A - sp.dot(self.B, self.C)) + (self.D[0]
>>>> - 1) * den)
>>>> +
>>>> +        return (sp.roots(num))
>>>> +
>>>>  # Negation of a system
>>>>  def __neg__(self):
>>>>      """Negate a state space system"""
>>>>
>>>> Modified: trunk/src/xferfcn.py
>>>> ===================================================================
>>>> --- trunk/src/xferfcn.py    2010-06-01 02:08:20 UTC (rev 20)
>>>> +++ trunk/src/xferfcn.py    2010-06-06 17:29:42 UTC (rev 21)
>>>> @@ -190,6 +190,10 @@
>>>>
>>>>      return mag, phase, omega
>>>>
>>>> +    # Compute poles and zeros
>>>> +    def poles(self): return sp.roots(self.den)
>>>> +    def zeros(self): return sp.roots(self.num)
>>>> +
>>>>  # Feedback around a transfer function
>>>>  def feedback(sys1, sys2, sign=-1):
>>>>      """Feedback interconnection between two transfer functions"""
>>>>
>>>>
>>>> This was sent by the SourceForge.net collaborative development
>>>> platform, the world's largest Open Source development site.
>>>
>>>
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>>> ---
>>> ---
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>>
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>
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> GeekDad Father's Day Giveaway. ONE MASSIVE PRIZE to the
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