[python-control-discuss] SF.net SVN: python-control:[112] branches/control-0.4a

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

Revision: 112
          http://python-control.svn.sourceforge.net/python-control/?rev=112&view=rev
Author:   kkchen
Date:     2011-02-08 22:18:58 +0000 (Tue, 08 Feb 2011)

Log Message:
-----------
Fixed pzmap.py for transfer functions. Still not implemented for state space.

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

Modified Paths:
--------------
    branches/control-0.4a/examples/pvtol-nested.py
    branches/control-0.4a/examples/type2_type3.py
    branches/control-0.4a/src/pzmap.py

Modified: branches/control-0.4a/examples/pvtol-nested.py
===================================================================
--- branches/control-0.4a/examples/pvtol-nested.py	2011-02-08 22:18:53 UTC (rev 111)
+++ branches/control-0.4a/examples/pvtol-nested.py	2011-02-08 22:18:58 UTC (rev 112)
@@ -24,8 +24,8 @@
 Po = tf([1], [m, c, 0]);	# outer loop (position)
 
 # Use state space versions
-# Pi = tf2ss(Pi);
-# Po = tf2ss(Po);
+Pi = tf2ss(Pi);
+Po = tf2ss(Po);
 
 #
 # Inner loop control design

Modified: branches/control-0.4a/examples/type2_type3.py
===================================================================
--- branches/control-0.4a/examples/type2_type3.py	2011-02-08 22:18:53 UTC (rev 111)
+++ branches/control-0.4a/examples/type2_type3.py	2011-02-08 22:18:58 UTC (rev 112)
@@ -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/pzmap.py
===================================================================
--- branches/control-0.4a/src/pzmap.py	2011-02-08 22:18:53 UTC (rev 111)
+++ branches/control-0.4a/src/pzmap.py	2011-02-08 22:18:58 UTC (rev 112)
@@ -42,6 +42,7 @@
 
 import matplotlib.pyplot as plt
 import scipy as sp
+import numpy as np
 import xferfcn
 
 # Compute poles and zeros for a system
@@ -49,8 +50,8 @@
 def pzmap(sys, Plot=True):
     """Plot a pole/zero map for a transfer function"""
     if (isinstance(sys, xferfcn.TransferFunction)):
-        poles = sp.roots(sys.den);
-        zeros = sp.roots(sys.num);
+        poles = sp.roots(np.squeeze(np.asarray(sys.den)));
+        zeros = sp.roots(np.squeeze(np.asarray(sys.num)));
     else:
         raise NotImplementedError("pzmap not implemented for state space systems yet.")
 


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