Menu
▾
▴
[python-control-discuss] SF.net SVN: python-control:[113] branches/control-0.4a
|
From: <kk...@us...> - 2011-02-08 22:19:13
|
Revision: 113
http://python-control.svn.sourceforge.net/python-control/?rev=113&view=rev
Author: kkchen
Date: 2011-02-08 22:19:07 +0000 (Tue, 08 Feb 2011)
Log Message:
-----------
Updated test.py to be in repository
I forgot to hg add test.py last time, oops. Made a few other
minor edits, removing some duplicate code with "execs" in test.py
for python versions <2.7
bb...@ra...
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/src/freqplot.py
branches/control-0.4a/src/pzmap.py
branches/control-0.4a/src/statesp.py
branches/control-0.4a/src/xferfcn.py
Added Paths:
-----------
branches/control-0.4a/src/test.py
Modified: branches/control-0.4a/examples/pvtol-lqr.py
===================================================================
--- branches/control-0.4a/examples/pvtol-lqr.py 2011-02-08 22:18:58 UTC (rev 112)
+++ branches/control-0.4a/examples/pvtol-lqr.py 2011-02-08 22:19:07 UTC (rev 113)
@@ -119,7 +119,7 @@
subplot(221); title("Identity weights")
# plot(T, Y[:,1, 1], '-', T, Y[:,2, 2], '--'); hold(True);
-plot(Tx.T, Yx[0,:].T, '-', Ty.T, Yy[0,:].T, '--'); hold(True);
+plot(Tx, Yx[0,:].T, '-', Ty, 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.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(T1, Y1[0,:].T, 'b-'); hold(True);
+plot(T2, Y2[0,:].T, 'b-'); hold(True);
+plot(T3, 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.T, Y2x[0,:].T, T2y.T, Y2y[0,:].T)
+plot(T2x, Y2x[0,:].T, T2y, 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.T, Y3x[0,:].T, T3y.T, Y3y[0,:].T)
+plot(T3x, Y3x[0,:].T, T3y, 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 22:18:58 UTC (rev 112)
+++ branches/control-0.4a/examples/pvtol-nested-ss.py 2011-02-08 22:19:07 UTC (rev 113)
@@ -10,7 +10,6 @@
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
@@ -108,7 +107,7 @@
subplot(phaseh);
semilogx([10^-4, 10^3], [-180, -180], 'k-')
hold(True);
-semilogx(w, np.squeeze(phase), 'b-')
+semilogx(w, phase, 'b-')
axis([10^-4, 10^3, -360, 0]);
xlabel('Frequency [deg]'); ylabel('Phase [deg]');
# set(gca, 'YTick', [-360, -270, -180, -90, 0]);
@@ -145,15 +144,14 @@
figure(9);
(Tvec, Yvec) = step(T, None, linspace(1, 20));
-plot(Tvec.T, Yvec.T); hold(True);
+plot(Tvec, Yvec); hold(True);
(Tvec, Yvec) = step(Co*S, None, linspace(1, 20));
-plot(Tvec.T, Yvec.T);
+plot(Tvec, Yvec);
-#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 22:18:58 UTC (rev 112)
+++ branches/control-0.4a/examples/pvtol-nested.py 2011-02-08 22:19:07 UTC (rev 113)
@@ -10,7 +10,6 @@
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
@@ -24,8 +23,8 @@
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
@@ -98,7 +97,7 @@
subplot(phaseh);
semilogx([10^-4, 10^3], [-180, -180], 'k-')
hold(True);
-semilogx(w, np.squeeze(phase), 'b-')
+semilogx(w, phase, 'b-')
axis([10^-4, 10^3, -360, 0]);
xlabel('Frequency [deg]'); ylabel('Phase [deg]');
# set(gca, 'YTick', [-360, -270, -180, -90, 0]);
@@ -135,10 +134,10 @@
figure(9);
(Tvec, Yvec) = step(T, None, linspace(1, 20));
-plot(Tvec.T, Yvec.T); hold(True);
+plot(Tvec, Yvec); hold(True);
(Tvec, Yvec) = step(Co*S, None, linspace(1, 20));
-plot(Tvec.T, Yvec.T);
+plot(Tvec, Yvec);
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 22:18:58 UTC (rev 112)
+++ branches/control-0.4a/examples/secord-matlab.py 2011-02-08 22:19:07 UTC (rev 113)
@@ -18,7 +18,7 @@
# Step response for the system
figure(1)
T, yout = step(sys)
-plot(T.T, yout.T)
+plot(T, yout)
# 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 22:18:58 UTC (rev 112)
+++ branches/control-0.4a/examples/slicot-test.py 2011-02-08 22:19:07 UTC (rev 113)
@@ -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/src/freqplot.py
===================================================================
--- branches/control-0.4a/src/freqplot.py 2011-02-08 22:18:58 UTC (rev 112)
+++ branches/control-0.4a/src/freqplot.py 2011-02-08 22:19:07 UTC (rev 113)
@@ -177,12 +177,7 @@
# 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 22:18:58 UTC (rev 112)
+++ branches/control-0.4a/src/pzmap.py 2011-02-08 22:19:07 UTC (rev 113)
@@ -42,7 +42,6 @@
import matplotlib.pyplot as plt
import scipy as sp
-import numpy as np
import xferfcn
# Compute poles and zeros for a system
@@ -50,10 +49,10 @@
def pzmap(sys, Plot=True):
"""Plot a pole/zero map for a transfer function"""
if (isinstance(sys, xferfcn.TransferFunction)):
- poles = sp.roots(np.squeeze(np.asarray(sys.den)));
- zeros = sp.roots(np.squeeze(np.asarray(sys.num)));
+ poles = sp.roots(sys.den);
+ zeros = sp.roots(sys.num);
else:
- raise NotImplementedError("pzmap not implemented for state space systems yet.")
+ raise TypeException
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 22:18:58 UTC (rev 112)
+++ branches/control-0.4a/src/statesp.py 2011-02-08 22:19:07 UTC (rev 113)
@@ -73,7 +73,7 @@
"""
from numpy import all, angle, any, array, concatenate, cos, delete, dot, \
- empty, exp, eye, matrix, ones, pi, poly, poly1d, roots, shape, sin, zeros
+ empty, exp, eye, matrix, ones, pi, poly, poly1d, roots, sin, zeros
from numpy.random import rand, randn
from numpy.linalg import inv, det, solve
from numpy.linalg.linalg import LinAlgError
@@ -456,8 +456,6 @@
# 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]
Added: branches/control-0.4a/src/test.py
===================================================================
--- branches/control-0.4a/src/test.py (rev 0)
+++ branches/control-0.4a/src/test.py 2011-02-08 22:19:07 UTC (rev 113)
@@ -0,0 +1,63 @@
+import subprocess as SP
+
+def tests_old():
+ """ Runs all of the tests written for python-control. This should be
+ changed in the future so it does run seperate main functions/scripts,
+ but is integrated into the package. Also, the tests should be in their
+ own directory /trunk/tests. Running the test should be as simple as:
+ "import control; control.tests()"
+ """
+ testList = ['TestBDAlg.py','TestConvert.py','TestFreqRsp.py',\
+ 'TestMatlab.py','TestModelsimp.py','TestSlycot.py',\
+ 'TestStateSp.py','TestStatefbk.py','TestXferFcn.py']
+ #Add more tests to this list as they are created. Each is assumed to run
+ #as a script, as is usually done with unittest.
+ for test in testList:
+ print 'Running',test
+ print SP.Popen(['./'+test],stdout=SP.PIPE).communicate()[0]
+ print 'Completed',test
+
+def tests():
+ import unittest
+ try: #auto test discovery is only implemented in python 2.7+
+ start_dir='./' #change to a tests directory eventually.
+ pattern = 'Test*.py'
+ top_level_dir = './' #this might change? see
+ #http://docs.python.org/library/unittest.html#unittest.TestLoader.discover
+ test_mods=unittest.defaultTestLoader.discover(start_dir,pattern=pattern,\
+ top_level_dir=top_level_dir)
+ #now go through each module and run all of its tests.
+ print 'found test mods and they are',test_mods
+ for mod in test_mods:
+ print 'Running tests in',mod
+ tests = unittest.defaultTestLoader.loadTestFromModule(mod)
+ t = unittest.TextTestRunner()
+ t.run(tests)
+ print 'Completed tests in',mod
+ except:
+ #If can't do auto discovery, for now it is hard-coded. This is not ideal for
+ #when new tests are added or existing ones are reorganized/renamed.
+
+ #remove all of the print commands once tests are debugged and converted to
+ #unittests.
+
+ print 'Tests may be incomplete'
+ t=unittest.TextTestRunner()
+
+ testModules = ['TestBDAlg','TestConvert','TestFreqRsp','TestMatlab','TestModelsimp',\
+ 'TestStateSp','TestStatefbk','TestXferFcn'] #add additional tests here, or discovery?
+ suite = unittest.TestSuite()
+ for mod in testModules:
+ exec('import '+mod+' as currentModule')
+ print 'TEST',mod
+ suite = currentModule.suite()
+ t.run(suite)
+ #After tests have been debugged and made into unittests, remove
+ #the above (except the import) and replace with something like this:
+ #suiteList.append(ts.suite())
+ #alltests = unittest.TestSuite(suiteList)
+ #t.run(alltests)
+
+
+if __name__=='__main__':
+ tests()
Modified: branches/control-0.4a/src/xferfcn.py
===================================================================
--- branches/control-0.4a/src/xferfcn.py 2011-02-08 22:18:58 UTC (rev 112)
+++ branches/control-0.4a/src/xferfcn.py 2011-02-08 22:19:07 UTC (rev 113)
@@ -344,14 +344,14 @@
def __div__(self, other):
"""Divide two LTI objects."""
- # Convert the second argument to a transfer function.
- other = _convertToTransferFunction(other)
-
if (self.inputs > 1 or self.outputs > 1 or
other.inputs > 1 or other.outputs > 1):
raise NotImplementedError("TransferFunction.__div__ is currently \
implemented only for SISO systems.")
+ # Convert the second argument to a transfer function.
+ other = _convertToTransferFunction(other)
+
num = polymul(self.num[0][0], other.den[0][0])
den = polymul(self.den[0][0], other.num[0][0])
@@ -487,9 +487,8 @@
computes the single denominator containing all the poles of sys.den, and
reports it as the array d. The output numerator array n is modified to
- use the common denominator; the coefficient arrays are also padded with
- zeros to be the same size as d. n is an sys.outputs-by-sys.inputs-by-
- len(d) array.
+ use the common denominator. It is an sys.outputs-by-sys.inputs-by-
+ [something] array.
"""
@@ -589,12 +588,16 @@
# Multiply in the missing poles.
for p in missingpoles[i][j]:
num[i][j] = polymul(num[i][j], [1., -p])
- # Pad all numerator polynomials with zeros so that the numerator arrays
- # are the same size as the denominator.
+ # Find the largest numerator polynomial size.
+ largest = 0
for i in range(self.outputs):
for j in range(self.inputs):
- num[i][j] = insert(num[i][j], zeros(len(den) - len(num[i][j])),
- zeros(len(den) - len(num[i][j])))
+ largest = max(largest, len(num[i][j]))
+ # Pad all smaller numerator polynomials with zeros.
+ for i in range(self.outputs):
+ for j in range(self.inputs):
+ num[i][j] = insert(num[i][j], zeros(largest - len(num[i][j])),
+ zeros(largest - len(num[i][j])))
# Finally, convert the numerator to a 3-D array.
num = array(num)
# Remove trivial imaginary parts. Check for nontrivial imaginary parts.
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
