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[python-control-discuss] SF.net SVN: python-control:[86] branches/control-0.4a/src
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From: <kk...@us...> - 2011-02-08 22:16:53
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Revision: 86
http://python-control.svn.sourceforge.net/python-control/?rev=86&view=rev
Author: kkchen
Date: 2011-02-08 22:16:47 +0000 (Tue, 08 Feb 2011)
Log Message:
-----------
Modified convertTo* to use keywords. Tests for TransferFunction.pole.
The optional arguments inputs, outputs for
convertTo{StateSpace,TransferFunction} are now keyword arguments. This lets us
make sure the user isn't passing the number of inputs and outputs when it
shouldn't.
A test for TransferFunction.pole passes.
Kevin K. Chen <kk...@pr...>
Modified Paths:
--------------
branches/control-0.4a/src/TestXferFcn.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 22:16:42 UTC (rev 85)
+++ branches/control-0.4a/src/TestXferFcn.py 2011-02-08 22:16:47 UTC (rev 86)
@@ -381,6 +381,17 @@
np.testing.assert_array_almost_equal(phase, truephase)
np.testing.assert_array_equal(omega, trueomega)
+ # Tests for TransferFunction.pole and TransferFunction.zero.
+
+ def testPoleMIMO(self):
+ """Test for correct MIMO poles."""
+
+ sys = TransferFunction([[[1.], [1.]], [[1.], [1.]]],
+ [[[1., 2.], [1., 3.]], [[1., 4., 4.], [1., 9., 14.]]])
+ p = sys.pole()
+
+ np.testing.assert_array_almost_equal(p, [-7., -3., -2., -2.])
+
# Tests for TransferFunction.feedback.
def testFeedbackSISO(self):
Modified: branches/control-0.4a/src/statesp.py
===================================================================
--- branches/control-0.4a/src/statesp.py 2011-02-08 22:16:42 UTC (rev 85)
+++ branches/control-0.4a/src/statesp.py 2011-02-08 22:16:47 UTC (rev 86)
@@ -401,20 +401,34 @@
return out
-def convertToStateSpace(sys, inputs=1, outputs=1):
+def convertToStateSpace(sys, **kw):
"""Convert a system to state space form (if needed).
If sys is already a state space, then it is returned. If sys is a transfer
function object, then it is converted to a state space and returned. If sys
is a scalar, then the number of inputs and outputs can be specified
- manually.
+ manually, as in:
+
+ >>> sys = convertToStateSpace(3.) # Assumes inputs = outputs = 1
+ >>> sys = convertToStateSpace(1., inputs=3, outputs=2)
+
+ In the latter example, A = B = C = 0 and D = [[1., 1., 1.]
+ [1., 1., 1.]].
"""
if isinstance(sys, StateSpace):
+ if len(kw):
+ raise TypeError("If sys is a StateSpace, convertToStateSpace \
+cannot take keywords.")
+
# Already a state space system; just return it
return sys
elif isinstance(sys, xferfcn.TransferFunction):
+ if len(kw):
+ raise TypeError("If sys is a TransferFunction, convertToStateSpace \
+cannot take keywords.")
+
# Change the numerator and denominator arrays so that the transfer
# function matrix has a common denominator.
num, den = sys._common_den()
@@ -427,6 +441,15 @@
return StateSpace(ssout[1], ssout[2], ssout[3], ssout[4])
elif isinstance(sys, (int, long, float, complex)):
+ if "inputs" in kw:
+ inputs = kw["inputs"]
+ else:
+ inputs = 1
+ if "outputs" in kw:
+ outputs = kw["outputs"]
+ else:
+ outputs = 1
+
# Generate a simple state space system of the desired dimension
# The following Doesn't work due to inconsistencies in ltisys:
# return StateSpace([[]], [[]], [[]], eye(outputs, inputs))
Modified: branches/control-0.4a/src/xferfcn.py
===================================================================
--- branches/control-0.4a/src/xferfcn.py 2011-02-08 22:16:42 UTC (rev 85)
+++ branches/control-0.4a/src/xferfcn.py 2011-02-08 22:16:47 UTC (rev 86)
@@ -253,7 +253,8 @@
# Convert the second argument to a transfer function.
if not isinstance(other, TransferFunction):
- other = convertToTransferFunction(other, self.inputs, self.outputs)
+ other = convertToTransferFunction(other, inputs=self.inputs,
+ outputs=self.outputs)
# Check that the input-output sizes are consistent.
if self.inputs != other.inputs:
@@ -294,7 +295,8 @@
# Convert the second argument to a transfer function.
if isinstance(other, (int, float, long, complex)):
- other = convertToTransferFunction(other, self.inputs, self.inputs)
+ other = convertToTransferFunction(other, inputs=self.inputs,
+ outputs=self.inputs)
else:
other = convertToTransferFunction(other)
@@ -413,7 +415,7 @@
def zero(self):
"""Compute the zeros of a transfer function."""
- if (self.inputs > 1 or self.outputs > 1):
+ if self.inputs > 1 or self.outputs > 1:
raise NotImplementedError("TransferFunction.zero is currently \
only implemented for SISO systems.")
else:
@@ -638,19 +640,33 @@
return num, den
-def convertToTransferFunction(sys, inputs=1, outputs=1):
+def convertToTransferFunction(sys, **kw):
"""Convert a system to transfer function form (if needed).
If sys is already a transfer function, then it is returned. If sys is a
state space object, then it is converted to a transfer function and
returned. If sys is a scalar, then the number of inputs and outputs can be
- specified manually.
+ specified manually, as in:
+
+ >>> sys = convertToTransferFunction(3.) # Assumes inputs = outputs = 1
+ >>> sys = convertToTransferFunction(1., inputs=3, outputs=2)
+
+ In the latter example, sys's matrix transfer function is [[1., 1., 1.]
+ [1., 1., 1.]].
"""
if isinstance(sys, TransferFunction):
+ if len(kw):
+ raise TypeError("If sys is a TransferFunction, \
+convertToTransferFunction cannot take keywords.")
+
return sys
elif isinstance(sys, statesp.StateSpace):
+ if len(kw):
+ raise TypeError("If sys is a StateSpace, convertToTransferFunction \
+cannot take keywords.")
+
# Use Slycot to make the transformation.
tfout = tb04ad(sys.states, sys.inputs, sys.outputs, sys.A, sys.B, sys.C,
sys.D, sys.outputs, sys.outputs, sys.inputs)
@@ -667,6 +683,15 @@
return TransferFunction(num, den)
elif isinstance(sys, (int, long, float, complex)):
+ if "inputs" in kw:
+ inputs = kw["inputs"]
+ else:
+ inputs = 1
+ if "outputs" in kw:
+ outputs = kw["outputs"]
+ else:
+ outputs = 1
+
num = [[[sys] for j in range(inputs)] for i in range(outputs)]
den = [[[1] for j in range(inputs)] for i in range(outputs)]
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