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[python-control-discuss] SF.net SVN: python-control:[61] branches/control-0.4a/src
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From: <kk...@us...> - 2011-02-08 22:14:48
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Revision: 61
http://python-control.svn.sourceforge.net/python-control/?rev=61&view=rev
Author: kkchen
Date: 2011-02-08 22:14:42 +0000 (Tue, 08 Feb 2011)
Log Message:
-----------
Various edits:
- Put some functions in matlab.py and marked as complete.
- Minor fix to convertToStateSpace in statesp.py.
- Wrote convertToTransferFunction and put it to use in xferfcn.py.
- Changed a ValueError to TypeError; fixed in xferfcn.py and TestXferFcn.py.
Kevin K. Chen <kk...@pr...>
Modified Paths:
--------------
branches/control-0.4a/src/TestXferFcn.py
branches/control-0.4a/src/matlab.py
branches/control-0.4a/src/statesp.py
branches/control-0.4a/src/xferfcn.py
Modified: branches/control-0.4a/src/TestXferFcn.py
===================================================================
--- branches/control-0.4a/src/TestXferFcn.py 2011-02-08 22:14:38 UTC (rev 60)
+++ branches/control-0.4a/src/TestXferFcn.py 2011-02-08 22:14:42 UTC (rev 61)
@@ -14,7 +14,7 @@
def testBadInputType(self):
"""Give the constructor invalid input types."""
- self.assertRaises(ValueError, xTransferFunction, [[0., 1.], [2., 3.]],
+ self.assertRaises(TypeError, xTransferFunction, [[0., 1.], [2., 3.]],
[[5., 2.], [3., 0.]])
def testInconsistentDimension(self):
@@ -334,7 +334,7 @@
# Tests for xTransferFunction.freqresp.
- def testFRespSISO(self):
+ def testFreqRespSISO(self):
"""Evaluate the magnitude and phase of a SISO system at multiple
frequencies."""
@@ -351,7 +351,7 @@
np.testing.assert_array_almost_equal(phase, truephase)
np.testing.assert_array_almost_equal(omega, trueomega)
- def testFRespMIMO(self):
+ def testFreqRespMIMO(self):
"""Evaluate the magnitude and phase of a MIMO system at multiple
frequencies."""
Modified: branches/control-0.4a/src/matlab.py
===================================================================
--- branches/control-0.4a/src/matlab.py 2011-02-08 22:14:38 UTC (rev 60)
+++ branches/control-0.4a/src/matlab.py 2011-02-08 22:14:42 UTC (rev 61)
@@ -69,7 +69,7 @@
from freqplot import nyquist, nichols, gangof4
from bdalg import series, parallel, negate, feedback
from pzmap import pzmap
-from statefbk import ctrb, obsv, place, lqr
+from statefbk import ctrb, obsv, gram, place, lqr
from delay import pade
__doc__ = """
@@ -158,8 +158,8 @@
* nichols - Nichols plot
margin - gain and phase margins
lti/allmargin - all crossover frequencies and related gain/phase margins
- lti/freqresp - frequency response over a frequency grid
- lti/evalfr - evaluate frequency response at given frequency
+* lti/freqresp - frequency response over a frequency grid
+* lti/evalfr - evaluate frequency response at given frequency
Model simplification
minreal - minimal realization and pole/zero cancellation
@@ -193,7 +193,7 @@
canon - canonical forms of state-space models
* ctrb - controllability matrix
* obsv - observability matrix
- gram - controllability and observability gramians
+* gram - controllability and observability gramians
ss/prescale - optimal scaling of state-space models.
balreal - gramian-based input/output balancing
ss/xperm - reorder states.
@@ -317,13 +317,22 @@
return rss_generate(states, inputs, outputs, 'd')
def pole(sys):
+ """Return system poles."""
+
return sys.poles()
-# Frequency response is handled by the system object
-def freqresp(H, omega):
- """Return the frequency response for an object H at frequency omega"""
- return H.freqresp(omega)
+def evalfr(sys, omega):
+ """Evaluate the transfer function of an LTI system at a single frequency
+ omega."""
+ return sys.evalfr(omega)
+
+def freqresp(sys, omega):
+ """Return the frequency response for an LTI object at a list of frequencies
+ omega."""
+
+ return sys.freqresp(omega)
+
# Bode plots
def bode(*args, **keywords):
"""Bode plot of the frequency response
Modified: branches/control-0.4a/src/statesp.py
===================================================================
--- branches/control-0.4a/src/statesp.py 2011-02-08 22:14:38 UTC (rev 60)
+++ branches/control-0.4a/src/statesp.py 2011-02-08 22:14:42 UTC (rev 61)
@@ -267,7 +267,7 @@
# in the case of a scalar system
#
def convertToStateSpace(sys, inputs=1, outputs=1):
- """Convert a system to state space form (if needed)"""
+ """Convert a system to state space form (if needed)."""
if isinstance(sys, StateSpace):
# Already a state space system; just return it
@@ -278,11 +278,10 @@
# Generate a simple state space system of the desired dimension
# The following Doesn't work due to inconsistencies in ltisys:
# return StateSpace([[]], [[]], [[]], sp.eye(outputs, inputs))
- return StateSpace(-1, zeros((1, inputs)), zeros((outputs, 1)),
- sp.eye(outputs, inputs))
-
+ return StateSpace(0, zeros((1, inputs)), zeros((outputs, 1)),
+ sys * sp.eye(outputs, inputs))
else:
- raise TypeError("can't convert given type to StateSpace system")
+ raise TypeError("Can't convert given type to StateSpace system.")
def rss_generate(states, inputs, outputs, type):
"""This does the actual random state space generation expected from rss and
Modified: branches/control-0.4a/src/xferfcn.py
===================================================================
--- branches/control-0.4a/src/xferfcn.py 2011-02-08 22:14:38 UTC (rev 60)
+++ branches/control-0.4a/src/xferfcn.py 2011-02-08 22:14:42 UTC (rev 61)
@@ -91,7 +91,7 @@
else:
# If the user passed in anything else, then it's unclear what
# the meaning is.
- raise ValueError("The numerator and denominator inputs must be \
+ raise TypeError("The numerator and denominator inputs must be \
scalars or vectors (for\nSISO), or lists of lists of vectors (for SISO or \
MIMO).")
[num, den] = data
@@ -205,7 +205,7 @@
# Convert the second argument to a transfer function.
if not isinstance(other, xTransferFunction):
- other = ss2tf(other)
+ other = convertToTransferFunction(other, self.inputs, self.outputs)
# Check that the input-output sizes are consistent.
if self.inputs != other.inputs:
@@ -246,7 +246,7 @@
# Convert the second argument to a transfer function.
if not isinstance(other, xTransferFunction):
- other = ss2tf(other)
+ other = convertToTransferFunction(other, self.outputs, self.outputs)
# Check that the input-output sizes are consistent.
if self.inputs != other.outputs:
@@ -291,7 +291,7 @@
# Convert the second argument to a transfer function.
if not isinstance(other, xTransferFunction):
- other = ss2tf(other)
+ other = convertToTransferFunction(other, 1, 1)
num = sp.polymul(self.num[0][0], other.den[0][0])
den = sp.polymul(self.den[0][0], other.num[0][0])
@@ -586,8 +586,16 @@
den = sp.polymul(den1, den2)
return num, den
-
-def ss2tf(sys):
- """Convert a state space object to a transfer function object."""
- pass
+def convertToTransferFunction(sys, inputs=1, outputs=1):
+ """Convert a system to transfer function form (if needed.)"""
+
+ if isinstance(sys, xTransferFunction):
+ return sys
+ elif isinstance(sys, statesp.StateSpace):
+ pass #TODO: convert TF to SS
+ elif isinstance(sys, (int, long, float, complex)):
+ coeff = sp.eye(outputs, inputs)
+ return xTransferFunction(sys * coeff, coeff)
+ else:
+ raise TypeError("Can't convert given type to StateSpace system.")
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