[python-control-discuss] SF.net SVN: python-control:[64] branches/control-0.4a/src

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

Revision: 64
          http://python-control.svn.sourceforge.net/python-control/?rev=64&view=rev
Author:   kkchen
Date:     2011-02-08 22:14:56 +0000 (Tue, 08 Feb 2011)

Log Message:
-----------
Modified balred routine in modelsimp.py module to use real slycot routine ab09ad. User must have new slycot files installed for balred to work. testBalredTruncate unittest now passes.

Lauren Padilla <lpa...@pr...>

Modified Paths:
--------------
    branches/control-0.4a/src/TestModelsimp.py
    branches/control-0.4a/src/modelsimp.py

Modified: branches/control-0.4a/src/TestModelsimp.py
===================================================================
--- branches/control-0.4a/src/TestModelsimp.py	2011-02-08 22:14:51 UTC (rev 63)
+++ branches/control-0.4a/src/TestModelsimp.py	2011-02-08 22:14:56 UTC (rev 64)
@@ -101,14 +101,14 @@
         sys = ss(A,B,C,D)
         orders = 2
         rsys = balred(sys,orders,'elimination','truncate')
-        Artrue = np.matrix('-1.95, 0.6203; 2.314, -0.8432')
-        Brtrue = np.matrix('0.7221; -0.6306')
-        Crtrue = np.matrix('1.132, -0.2667')
+        Artrue = np.matrix('-1.958, -1.194; -1.194, -0.8344')
+        Brtrue = np.matrix('0.9057; 0.4068')
+        Crtrue = np.matrix('0.9057, 0.4068')
         Drtrue = np.matrix('0.')
-        np.testing.assert_array_almost_equal(sys.A, Artrue)
-        np.testing.assert_array_almost_equal(sys.B, Brtrue)
-        np.testing.assert_array_almost_equal(sys.C, Crtrue)
-        np.testing.assert_array_almost_equal(sys.D, Drtrue)
+        np.testing.assert_array_almost_equal(rsys.A, Artrue,decimal=2)
+        np.testing.assert_array_almost_equal(rsys.B, Brtrue,decimal=4)
+        np.testing.assert_array_almost_equal(rsys.C, Crtrue,decimal=4)
+        np.testing.assert_array_almost_equal(rsys.D, Drtrue,decimal=4)
 
 
 

Modified: branches/control-0.4a/src/modelsimp.py
===================================================================
--- branches/control-0.4a/src/modelsimp.py	2011-02-08 22:14:51 UTC (rev 63)
+++ branches/control-0.4a/src/modelsimp.py	2011-02-08 22:14:56 UTC (rev 64)
@@ -44,6 +44,7 @@
 import ctrlutil
 from control.exception import *
 from statefbk import *
+from statesp import StateSpace
 
 # Hankel Singular Value Decomposition
 #   The following returns the Hankel singular values, which are singular values of the matrix formed by multiplying the controllability and observability grammians
@@ -167,22 +168,34 @@
             raise ValueError, "Oops, the system is unstable!"
    
     if method=='matchdc':
-        print "matchdc"
+        raise ValueError, "MatchDC not yet supported!"
     elif method=='truncate':
-        print "truncate"
+        try:
+            from slycot import ab09ad
+        except ImportError:
+            raise ControlSlycot("can't find slycot subroutine ab09ad")
+        job = 'B' # balanced (B) or not (N)
+        equil = 'N'  # scale (S) or not (N) 
+        ordsel = 'F'  # fixed truncation level (F) or find the truncation level given tol (A)
+        n = np.size(sys.A,0)
+        m = np.size(sys.B,1)
+        p = np.size(sys.C,0)
+        nr = orders
+        tol = 0.
+        out = ab09ad(dico,job,equil,ordsel, n, m, p, nr, sys.A, sys.B, sys.C,tol) 
+        Ar = out[0][0:nr,0:nr]
+        Br = out[1][0:nr,0:m]
+        Cr = out[2][0:p,0:nr]
+        hsv = out[3]
+        iwarn = out[4]
+        info = out[5]
+   
+        rsys = StateSpace(Ar, Br, Cr, sys.D)
     else:
         raise ValueError, "Oops, method is not supported!"
 
-    #Compute rhs using the Slycot routine XXXXXX 
-        #make sure Slycot is installed
-    #try:
-    #    from slycot import XXXXXX
-    #except ImportError:
-    #    raise ControlSlycot("can't find slycot module 'XXXXXX'")
-    rsys = 0.
     return rsys
 
-
 def era(YY,m,n,nin,nout,r):
     """Calculate an ERA model of order r based on the impulse-response data YY
 


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