[python-control-discuss] SF.net SVN: python-control:[37] branches/control-0.4a/src

[<kk...@us...>]

Revision: 37
          http://python-control.svn.sourceforge.net/python-control/?rev=37&view=rev
Author:   kkchen
Date:     2011-02-08 22:11:21 +0000 (Tue, 08 Feb 2011)

Log Message:
-----------
Added shell interface for gram along with tests.

Steven Brunton <sbr...@pr...>

Modified Paths:
--------------
    branches/control-0.4a/src/TestStatefbk.py
    branches/control-0.4a/src/statefbk.py

Modified: branches/control-0.4a/src/TestStatefbk.py
===================================================================
--- branches/control-0.4a/src/TestStatefbk.py	2011-02-08 22:03:57 UTC (rev 36)
+++ branches/control-0.4a/src/TestStatefbk.py	2011-02-08 22:11:21 UTC (rev 37)
@@ -1,6 +1,7 @@
 #!/usr/bin/env python
 
-from statefbk import ctrb, obsv, place, lqr
+from statefbk import ctrb, obsv, place, lqr, gram
+from matlab import *
 import numpy as N
 import unittest
 
@@ -42,5 +43,27 @@
         Wo = N.transpose(obsv(A,C));
         N.testing.assert_array_almost_equal(Wc,Wo)
 
+    def testGramWc(self):
+        A = N.matrix("1. -2.; 3. -4.")
+        B = N.matrix("5. 6.; 7. 8.")
+        C = N.matrix("4. 5.; 6. 7.")
+        D = N.matrix("13. 14.; 15. 16.")
+    #    sys = ss(A, B, C, D)
+        sys = 1.
+        Wctrue = N.matrix("18.5 24.5; 24.5 32.5")
+        Wc = gram(sys,'c')
+        N.testing.assert_array_almost_equal(Wc, Wctrue)
+
+    def testGramWo(self):
+        A = N.matrix("1. -2.; 3. -4.")
+        B = N.matrix("5. 6.; 7. 8.")
+        C = N.matrix("4. 5.; 6. 7.")
+        D = N.matrix("13. 14.; 15. 16.")
+        sys = ss(A, B, C, D)
+        sys = 1.
+        Wotrue = N.matrix("257.5 -94.5; -94.5 56.5")
+        Wo = gram(sys,'o')
+        N.testing.assert_array_almost_equal(Wo, Wotrue)
+
 if __name__ == '__main__':
     unittest.main()

Modified: branches/control-0.4a/src/statefbk.py
===================================================================
--- branches/control-0.4a/src/statefbk.py	2011-02-08 22:03:57 UTC (rev 36)
+++ branches/control-0.4a/src/statefbk.py	2011-02-08 22:11:21 UTC (rev 37)
@@ -190,7 +190,7 @@
 
     Usage
     =====
-    Wc = ctrb(A, B)
+    C = ctrb(A, B)
 
     Inputs
     ------
@@ -198,7 +198,7 @@
 
     Outputs
     -------
-    Wc: Controllability matrix
+    C: Controllability matrix
     """
 
     # Convert input parameters to matrices (if they aren't already)
@@ -216,7 +216,7 @@
 
     Usage
     =====
-    Wc = obsv(A, C)
+    O = obsv(A, C)
 
     Inputs
     ------
@@ -224,7 +224,7 @@
 
     Outputs
     -------
-    Wc: Observability matrix
+    O: Observability matrix
     """
 
     # Convert input parameters to matrices (if they aren't already)
@@ -237,3 +237,22 @@
     for i in range(1, n):
         obsv = np.vstack((obsv, cmat*amat**i))
     return obsv
+
+def gram(sys,type):
+    """Gramian
+    
+    Usage
+    =====
+    Wc = gram(sys,'c')
+    Wo = gram(sys,'o')
+    """
+    
+    if type=='c':
+        print "controllable"
+    elif type=='o':
+        print "observable"
+    else: 
+        raise ValueError, "Oops, neither observable, nor controllable!"
+
+    gram = 0.
+    return gram


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