[python-control-discuss] SF.net SVN: python-control:[110] branches/control-0.4a

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

Revision: 110
          http://python-control.svn.sourceforge.net/python-control/?rev=110&view=rev
Author:   kkchen
Date:     2011-02-08 22:18:49 +0000 (Tue, 08 Feb 2011)

Log Message:
-----------
Modified examples so that they are compatible with the new classes. Minor changes to some of the python-control files to handle bugs found in examples.

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

Modified Paths:
--------------
    branches/control-0.4a/examples/pvtol-lqr.py
    branches/control-0.4a/examples/pvtol-nested-ss.py
    branches/control-0.4a/examples/pvtol-nested.py
    branches/control-0.4a/examples/secord-matlab.py
    branches/control-0.4a/examples/slicot-test.py
    branches/control-0.4a/examples/type2_type3.py
    branches/control-0.4a/src/freqplot.py
    branches/control-0.4a/src/pzmap.py
    branches/control-0.4a/src/statesp.py

Modified: branches/control-0.4a/examples/pvtol-lqr.py
===================================================================
--- branches/control-0.4a/examples/pvtol-lqr.py	2011-02-08 22:18:42 UTC (rev 109)
+++ branches/control-0.4a/examples/pvtol-lqr.py	2011-02-08 22:18:49 UTC (rev 110)
@@ -119,7 +119,7 @@
 
 subplot(221); title("Identity weights")
 # plot(T, Y[:,1, 1], '-', T, Y[:,2, 2], '--'); hold(True);
-plot(Tx, Yx[0,:].T, '-', Ty, Yy[0,:].T, '--'); hold(True);
+plot(Tx.T, Yx[0,:].T, '-', Ty.T, Yy[0,:].T, '--'); hold(True);
 plot([0, 10], [1, 1], 'k-'); hold(True);
 
 axis([0, 10, -0.1, 1.4]); 
@@ -141,9 +141,9 @@
 [T3, Y3] = step(H1cx, T=linspace(0,10,100));
 
 subplot(222); title("Effect of input weights")
-plot(T1, Y1[0,:].T, 'b-'); hold(True);
-plot(T2, Y2[0,:].T, 'b-'); hold(True);
-plot(T3, Y3[0,:].T, 'b-'); hold(True);
+plot(T1.T, Y1[0,:].T, 'b-'); hold(True);
+plot(T2.T, Y2[0,:].T, 'b-'); hold(True);
+plot(T3.T, Y3[0,:].T, 'b-'); hold(True);
 plot([0 ,10], [1, 1], 'k-'); hold(True);
 
 axis([0, 10, -0.1, 1.4]); 
@@ -162,7 +162,7 @@
 subplot(223); title("Output weighting")
 [T2x, Y2x] = step(H2x, T=linspace(0,10,100));
 [T2y, Y2y] = step(H2y, T=linspace(0,10,100));
-plot(T2x, Y2x[0,:].T, T2y, Y2y[0,:].T)
+plot(T2x.T, Y2x[0,:].T, T2y.T, Y2y[0,:].T)
 ylabel('position');
 xlabel('time'); ylabel('position');
 legend(('x', 'y'), loc='lower right');
@@ -185,7 +185,7 @@
 # step(H3x, H3y, 10);
 [T3x, Y3x] = step(H3x, T=linspace(0,10,100));
 [T3y, Y3y] = step(H3y, T=linspace(0,10,100));
-plot(T3x, Y3x[0,:].T, T3y, Y3y[0,:].T)
+plot(T3x.T, Y3x[0,:].T, T3y.T, Y3y[0,:].T)
 title("Physically motivated weights")
 xlabel('time'); 
 legend(('x', 'y'), loc='lower right');

Modified: branches/control-0.4a/examples/pvtol-nested-ss.py
===================================================================
--- branches/control-0.4a/examples/pvtol-nested-ss.py	2011-02-08 22:18:42 UTC (rev 109)
+++ branches/control-0.4a/examples/pvtol-nested-ss.py	2011-02-08 22:18:49 UTC (rev 110)
@@ -10,6 +10,7 @@
 
 from matplotlib.pyplot import * # Grab MATLAB plotting functions
 from control.matlab import *    # MATLAB-like functions
+import numpy as np
 
 # System parameters
 m = 4;				# mass of aircraft
@@ -107,7 +108,7 @@
 subplot(phaseh);
 semilogx([10^-4, 10^3], [-180, -180], 'k-')
 hold(True);
-semilogx(w, phase, 'b-')
+semilogx(w, np.squeeze(phase), 'b-')
 axis([10^-4, 10^3, -360, 0]);
 xlabel('Frequency [deg]'); ylabel('Phase [deg]');
 # set(gca, 'YTick', [-360, -270, -180, -90, 0]);
@@ -144,14 +145,15 @@
 
 figure(9); 
 (Tvec, Yvec) = step(T, None, linspace(1, 20));
-plot(Tvec, Yvec); hold(True);
+plot(Tvec.T, Yvec.T); hold(True);
 
 (Tvec, Yvec) = step(Co*S, None, linspace(1, 20));
-plot(Tvec, Yvec);
+plot(Tvec.T, Yvec.T);
 
+#TODO: PZmap for statespace systems has not yet been implemented.
 figure(10); clf();
-(P, Z) = pzmap(T, Plot=True)
-print "Closed loop poles and zeros: ", P, Z
+#(P, Z) = pzmap(T, Plot=True)
+#print "Closed loop poles and zeros: ", P, Z
 
 # Gang of Four
 figure(11); clf();

Modified: branches/control-0.4a/examples/pvtol-nested.py
===================================================================
--- branches/control-0.4a/examples/pvtol-nested.py	2011-02-08 22:18:42 UTC (rev 109)
+++ branches/control-0.4a/examples/pvtol-nested.py	2011-02-08 22:18:49 UTC (rev 110)
@@ -10,6 +10,7 @@
 
 from matplotlib.pyplot import * # Grab MATLAB plotting functions
 from control.matlab import *    # MATLAB-like functions
+import numpy as np
 
 # System parameters
 m = 4;				# mass of aircraft
@@ -97,7 +98,7 @@
 subplot(phaseh);
 semilogx([10^-4, 10^3], [-180, -180], 'k-')
 hold(True);
-semilogx(w, phase, 'b-')
+semilogx(w, np.squeeze(phase), 'b-')
 axis([10^-4, 10^3, -360, 0]);
 xlabel('Frequency [deg]'); ylabel('Phase [deg]');
 # set(gca, 'YTick', [-360, -270, -180, -90, 0]);
@@ -134,10 +135,10 @@
 
 figure(9); 
 (Tvec, Yvec) = step(T, None, linspace(1, 20));
-plot(Tvec, Yvec); hold(True);
+plot(Tvec.T, Yvec.T); hold(True);
 
 (Tvec, Yvec) = step(Co*S, None, linspace(1, 20));
-plot(Tvec, Yvec);
+plot(Tvec.T, Yvec.T);
 
 figure(10); clf();
 (P, Z) = pzmap(T, Plot=True)

Modified: branches/control-0.4a/examples/secord-matlab.py
===================================================================
--- branches/control-0.4a/examples/secord-matlab.py	2011-02-08 22:18:42 UTC (rev 109)
+++ branches/control-0.4a/examples/secord-matlab.py	2011-02-08 22:18:49 UTC (rev 110)
@@ -18,7 +18,7 @@
 # Step response for the system
 figure(1)
 T, yout = step(sys)
-plot(T, yout)
+plot(T.T, yout.T)
 
 # Bode plot for the system
 figure(2)

Modified: branches/control-0.4a/examples/slicot-test.py
===================================================================
--- branches/control-0.4a/examples/slicot-test.py	2011-02-08 22:18:42 UTC (rev 109)
+++ branches/control-0.4a/examples/slicot-test.py	2011-02-08 22:18:49 UTC (rev 110)
@@ -17,7 +17,7 @@
 sys = ss(A, B, C, 0);
 
 # Eigenvalue placement
-from slycot import sb01bd
+#from slycot import sb01bd
 K = place(A, B, [-3, -2, -1])
 print "Pole place: K = ", K
 print "Pole place: eigs = ", np.linalg.eig(A - B * K)[0]

Modified: branches/control-0.4a/examples/type2_type3.py
===================================================================
--- branches/control-0.4a/examples/type2_type3.py	2011-02-08 22:18:42 UTC (rev 109)
+++ branches/control-0.4a/examples/type2_type3.py	2011-02-08 22:18:49 UTC (rev 110)
@@ -15,7 +15,7 @@
 Kii = Ki
 
 # Plant transfer function from torque to rate
-inertia = integrator*1/J
+inertia = integrator*(1/J)
 friction = b # transfer function from rate to torque
 P = inertia # friction is modelled as a separate block
 

Modified: branches/control-0.4a/src/freqplot.py
===================================================================
--- branches/control-0.4a/src/freqplot.py	2011-02-08 22:18:42 UTC (rev 109)
+++ branches/control-0.4a/src/freqplot.py	2011-02-08 22:18:49 UTC (rev 110)
@@ -177,7 +177,12 @@
     # Select a default range if none is provided
     if (omega == None):
         omega = default_frequency_range(syslist)
-
+    # Interpolate between wmin and wmax if a tuple or list are provided
+    elif (isinstance(omega,list) | isinstance(omega,tuple)):
+        # Only accept tuple or list of length 2
+        if (len(omega) != 2):
+            raise ValueError("Supported frequency arguments are (wmin,wmax) tuple or list, or frequency vector. ")
+        omega = np.logspace(np.log10(omega[0]),np.log10(omega[1]),num=50,endpoint=True,base=10.0)
     for sys in syslist:
         if (sys.inputs > 1 or sys.outputs > 1):
             #TODO: Add MIMO nyquist plots. 

Modified: branches/control-0.4a/src/pzmap.py
===================================================================
--- branches/control-0.4a/src/pzmap.py	2011-02-08 22:18:42 UTC (rev 109)
+++ branches/control-0.4a/src/pzmap.py	2011-02-08 22:18:49 UTC (rev 110)
@@ -52,7 +52,7 @@
         poles = sp.roots(sys.den);
         zeros = sp.roots(sys.num);
     else:
-        raise TypeException
+        raise NotImplementedError("pzmap not implemented for state space systems yet.")
 
     if (Plot):
         # Plot the locations of the poles and zeros

Modified: branches/control-0.4a/src/statesp.py
===================================================================
--- branches/control-0.4a/src/statesp.py	2011-02-08 22:18:42 UTC (rev 109)
+++ branches/control-0.4a/src/statesp.py	2011-02-08 22:18:49 UTC (rev 110)
@@ -73,7 +73,7 @@
 """
 
 from numpy import all, angle, any, array, concatenate, cos, delete, dot, \
-    empty, exp, eye, matrix, ones, pi, poly, poly1d, roots, sin, zeros
+    empty, exp, eye, matrix, ones, pi, poly, poly1d, roots, shape, sin, zeros
 from numpy.random import rand, randn
 from numpy.linalg import inv, det, solve
 from numpy.linalg.linalg import LinAlgError
@@ -456,6 +456,8 @@
         # TODO: transfer function to state space conversion is still buggy!
         print "Warning: transfer function to state space conversion by td04ad \
 is still buggy!"
+        #print num
+        #print shape(num)
         ssout = td04ad(sys.inputs, sys.outputs, index, den, num)
     
         states = ssout[0]


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