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[python-control-discuss] SF.net SVN: python-control:[146] branches/control-0.4b
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From: <mur...@us...> - 2011-04-02 18:13:30
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Revision: 146
http://python-control.svn.sourceforge.net/python-control/?rev=146&view=rev
Author: murrayrm
Date: 2011-04-02 18:13:23 +0000 (Sat, 02 Apr 2011)
Log Message:
-----------
Changes in preparation for using v0.4 as trunk:
* Added missing MATLAB compatible functions for module reduction
* Turned off print statements in unit tests (turn back on using verbose flag)
* Removed bug warnings from conversion routines; posted open bug to Pending
* Updated examples/pvtol-nested-ss to reflect interface changes
* See ChangeLog for a detailed list of changes
Modified Paths:
--------------
branches/control-0.4b/ChangeLog
branches/control-0.4b/Pending
branches/control-0.4b/examples/pvtol-nested-ss.py
branches/control-0.4b/src/__init__.py
branches/control-0.4b/src/matlab.py
branches/control-0.4b/src/modelsimp.py
branches/control-0.4b/src/statesp.py
branches/control-0.4b/src/xferfcn.py
branches/control-0.4b/tests/convert_test.py
branches/control-0.4b/tests/modelsimp_test.py
branches/control-0.4b/tests/slycot_convert_test.py
branches/control-0.4b/tests/test_all.py
Modified: branches/control-0.4b/ChangeLog
===================================================================
--- branches/control-0.4b/ChangeLog 2011-04-02 16:15:41 UTC (rev 145)
+++ branches/control-0.4b/ChangeLog 2011-04-02 18:13:23 UTC (rev 146)
@@ -1,5 +1,31 @@
2011-04-02 Richard Murray <murray@malabar.local>
+ * src/__init__.py: removed import of tests module (moved to tests/)
+
+ * src/matlab.py: Added hsvd, balred, modred to list of functions
+ that are imported for use as is. Updated documentation string to
+ indicate that these are implemented, along with a few other
+ functions (zero, lqr) that weren't properly listed.
+
+ * src/modelsimp.py (balred): Removed extraneous print statements
+ (modred): Set method to be 'matchdc' by default (to match MATLAB)
+
+ * src/__init__.py: added missing import of modelsimp functions
+
+ * tests/slycot_convert_test.py (TestSlycot.testTF): turned off print
+ statements in unit test to make it easier to see results. Use
+ verbose=True to turn back on.
+
+ * tests/convert_test.py (TestConvert.testConvert): got rid of print
+ statements in unittest; clutters the output so that you can't see
+ the errors clearly. Use verbose=True to turn back on.
+
+ * src/statesp.py (_convertToStateSpace): removed "buggy" print
+ statements
+
+ * src/xferfcn.py (_convertToTransferFunction): removed "buggy" print
+ statements
+
* tests/nichols_test.py (TestStateSpace.testNgrid): updated testcode
to turn off grid in initial Nichols chart plot.
Modified: branches/control-0.4b/Pending
===================================================================
--- branches/control-0.4b/Pending 2011-04-02 16:15:41 UTC (rev 145)
+++ branches/control-0.4b/Pending 2011-04-02 18:13:23 UTC (rev 146)
@@ -10,9 +10,9 @@
OPEN BUGS
* matlab.step() doesn't handle systems with a pole at the origin (use lsim2)
- * tests/convert_test.py not working yet
- * tests/test_all.py should report on failed tests
- * tests/freqresp.py needs to be converted to unit test
+ * TF <-> SS transformations are buggy; see tests/convert_test.py
+ * hsvd returns different value than MATLAB (2010a); see modelsimp_test.py
+ * MIMO common denominator fails unit test; see convert_test.py
Transfer code from Roberto Bucher's yottalab to python-control
acker - pole placement using Ackermann method
@@ -40,6 +40,9 @@
* Put together unit tests for all functions (after deciding on framework)
* Figure out how to import 'figure' command properly (version issue?)
* Figure out source of BadCoefficients warning messages (pvtol-lqr and others)
+ * tests/test_all.py should report on failed tests
+ * tests/freqresp.py needs to be converted to unit test
+ * Convert examples/test-{response,statefbk}.py to unit tests
TransferFunction class fixes
* evalfr is not working (num, den stored as ndarrays, not poly1ds)
Modified: branches/control-0.4b/examples/pvtol-nested-ss.py
===================================================================
--- branches/control-0.4b/examples/pvtol-nested-ss.py 2011-04-02 16:15:41 UTC (rev 145)
+++ branches/control-0.4b/examples/pvtol-nested-ss.py 2011-04-02 18:13:23 UTC (rev 146)
@@ -95,21 +95,21 @@
# (gm, pm, wgc, wpc) = margin(L);
figure(6); clf; subplot(221);
-(magh, phaseh) = bode(L);
+bode(L, logspace(-4, 3));
# Add crossover line
-subplot(magh); hold(True);
-loglog([10^-4, 10^3], [1, 1], 'k-')
+subplot(211); hold(True);
+loglog([1e-4, 1e3], [1, 1], 'k-')
# Replot phase starting at -90 degrees
-bode(L, logspace(-4, 3));
(mag, phase, w) = freqresp(L, logspace(-4, 3));
phase = phase - 360;
-subplot(phaseh);
-semilogx([10^-4, 10^3], [-180, -180], 'k-')
+
+subplot(212);
+semilogx([1e-4, 1e3], [-180, -180], 'k-')
hold(True);
semilogx(w, np.squeeze(phase), 'b-')
-axis([10^-4, 10^3, -360, 0]);
+axis([1e-4, 1e3, -360, 0]);
xlabel('Frequency [deg]'); ylabel('Phase [deg]');
# set(gca, 'YTick', [-360, -270, -180, -90, 0]);
# set(gca, 'XTick', [10^-4, 10^-2, 1, 100]);
@@ -152,8 +152,8 @@
#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-0.4b/src/__init__.py
===================================================================
--- branches/control-0.4b/src/__init__.py 2011-04-02 16:15:41 UTC (rev 145)
+++ branches/control-0.4b/src/__init__.py 2011-04-02 18:13:23 UTC (rev 146)
@@ -63,5 +63,4 @@
from bdalg import *
from statefbk import *
from delay import *
-
-from test import *
+from modelsimp import *
Modified: branches/control-0.4b/src/matlab.py
===================================================================
--- branches/control-0.4b/src/matlab.py 2011-04-02 16:15:41 UTC (rev 145)
+++ branches/control-0.4b/src/matlab.py 2011-04-02 18:13:23 UTC (rev 146)
@@ -80,6 +80,7 @@
from pzmap import pzmap
from statefbk import ctrb, obsv, gram, place, lqr
from delay import pade
+from modelsimp import hsvd, balred, modred
__doc__ += """
The control.matlab module defines functions that are roughly the
@@ -139,9 +140,9 @@
lti/bandwidth - system bandwidth
lti/norm - h2 and Hinfinity norms of LTI models
\* lti/pole - system poles
- lti/zero - system (transmission) zeros
+\* lti/zero - system (transmission) zeros
lti/order - model order (number of states)
-\* pzmap - pole-zero map
+\* pzmap - pole-zero map (TF only)
lti/iopzmap - input/output pole-zero map
damp - natural frequency and damping of system poles
esort - sort continuous poles by real part
@@ -173,19 +174,20 @@
Model simplification
minreal - minimal realization and pole/zero cancellation
ss/sminreal - structurally minimal realization (state space)
- lti/hsvd - hankel singular values (state contributions)
- lti/balred - reduced-order approximations of LTI models
- ss/modred - model order reduction
+\* lti/hsvd - hankel singular values (state contributions)
+\* lti/balred - reduced-order approximations of LTI models
+\* ss/modred - model order reduction
Compensator design
rlocus - evans root locus
- place - pole placement
+\* place - pole placement
estim - form estimator given estimator gain
reg - form regulator given state-feedback and estimator gains
LQR/LQG design
ss/lqg - single-step LQG design
- lqr, dlqr - linear-Quadratic (LQ) state-feedback regulator
+\* lqr - linear-Quadratic (LQ) state-feedback regulator
+\* dlqr - discrete-time LQ state-feedback regulator
lqry - lq regulator with output weighting
lqrd - discrete LQ regulator for continuous plant
ss/lqi - linear-Quadratic-Integral (LQI) controller
Modified: branches/control-0.4b/src/modelsimp.py
===================================================================
--- branches/control-0.4b/src/modelsimp.py 2011-04-02 16:15:41 UTC (rev 145)
+++ branches/control-0.4b/src/modelsimp.py 2011-04-02 18:13:23 UTC (rev 146)
@@ -84,7 +84,7 @@
# Return the Hankel singular values
return hsv
-def modred(sys,ELIM,method):
+def modred(sys,ELIM,method='matchdc'):
"""Model reduction of sys by eliminating the states in ELIM using a given method
Parameters
@@ -207,8 +207,8 @@
#Check system is stable
D,V = np.linalg.eig(sys.A)
- print D.shape
- print D
+ # print D.shape
+ # print D
for e in D:
if e.real >= 0:
raise ValueError, "Oops, the system is unstable!"
Modified: branches/control-0.4b/src/statesp.py
===================================================================
--- branches/control-0.4b/src/statesp.py 2011-04-02 16:15:41 UTC (rev 145)
+++ branches/control-0.4b/src/statesp.py 2011-04-02 18:13:23 UTC (rev 146)
@@ -469,8 +469,6 @@
# Repeat the common denominator along the rows.
den = array([den for i in range(sys.outputs)])
# TODO: transfer function to state space conversion is still buggy!
- print "Warning: transfer function to state space conversion by td04ad \
-is still buggy! Advise converting state space sys back to tf to verify the transformation was correct."
#print num
#print shape(num)
ssout = td04ad('R',sys.inputs, sys.outputs, index, den, num,tol=0.0)
Modified: branches/control-0.4b/src/xferfcn.py
===================================================================
--- branches/control-0.4b/src/xferfcn.py 2011-04-02 16:15:41 UTC (rev 145)
+++ branches/control-0.4b/src/xferfcn.py 2011-04-02 18:13:23 UTC (rev 146)
@@ -713,8 +713,6 @@
# Use Slycot to make the transformation. TODO: this is still somewhat
# buggy!
- print "Warning: state space to transfer function conversion by tb04ad \
-is still buggy!"
tfout = tb04ad(sys.states, sys.inputs, sys.outputs, sys.A, sys.B, sys.C,
sys.D,tol1=0.0)
@@ -727,8 +725,8 @@
num[i][j] = list(tfout[6][i, j, :])
# Each transfer function matrix row has a common denominator.
den[i][j] = list(tfout[5][i, :])
- print num
- print den
+ # print num
+ # print den
return TransferFunction(num, den)
elif isinstance(sys, (int, long, float, complex)):
if "inputs" in kw:
Modified: branches/control-0.4b/tests/convert_test.py
===================================================================
--- branches/control-0.4b/tests/convert_test.py 2011-04-02 16:15:41 UTC (rev 145)
+++ branches/control-0.4b/tests/convert_test.py 2011-04-02 18:13:23 UTC (rev 146)
@@ -1,6 +1,6 @@
#!/usr/bin/env python
-"""TestConvert.py
+"""convert_test.py
Test state space and transfer function conversion.
@@ -40,7 +40,7 @@
print "sys%i:\n" % ind
print sys
- def testConvert(self):
+ def testConvert(self, verbose=0):
"""Test state space to transfer function conversion."""
#Currently it only tests that a TF->SS->TF generates an unchanged TF
@@ -52,16 +52,20 @@
#start with a random SS system and transform to TF
#then back to SS, check that the matrices are the same.
ssOriginal = matlab.rss(states, inputs, outputs)
- self.printSys(ssOriginal, 1)
+ if (verbose):
+ self.printSys(ssOriginal, 1)
tfOriginal = matlab.tf(ssOriginal)
- self.printSys(tfOriginal, 2)
+ if (verbose):
+ self.printSys(tfOriginal, 2)
ssTransformed = matlab.ss(tfOriginal)
- self.printSys(ssTransformed, 3)
+ if (verbose):
+ self.printSys(ssTransformed, 3)
tfTransformed = matlab.tf(ssTransformed)
- self.printSys(tfTransformed, 4)
+ if (verbose):
+ self.printSys(tfTransformed, 4)
for inputNum in range(inputs):
for outputNum in range(outputs):
@@ -81,8 +85,6 @@
#[mag,phase,freq]=bode(sys)
#it doesn't seem to......
#This should be added.
-
-
def suite():
return unittest.TestLoader().loadTestsFromTestCase(TestConvert)
Modified: branches/control-0.4b/tests/modelsimp_test.py
===================================================================
--- branches/control-0.4b/tests/modelsimp_test.py 2011-04-02 16:15:41 UTC (rev 145)
+++ branches/control-0.4b/tests/modelsimp_test.py 2011-04-02 18:13:23 UTC (rev 146)
@@ -16,7 +16,7 @@
D = np.matrix("9.")
sys = ss(A,B,C,D)
hsv = hsvd(sys)
- hsvtrue = np.matrix("24.42686 0.5731395")
+ hsvtrue = np.matrix("24.42686 0.5731395") # from MATLAB
np.testing.assert_array_almost_equal(hsv, hsvtrue)
def testMarkov(self):
Modified: branches/control-0.4b/tests/slycot_convert_test.py
===================================================================
--- branches/control-0.4b/tests/slycot_convert_test.py 2011-04-02 16:15:41 UTC (rev 145)
+++ branches/control-0.4b/tests/slycot_convert_test.py 2011-04-02 18:13:23 UTC (rev 146)
@@ -26,24 +26,23 @@
self.maxI = 1
self.maxO = 1
- def testTF(self):
+ def testTF(self, verbose=False):
""" Directly tests the functions tb04ad and td04ad through direct comparison of transfer function coefficients.
- Similar to TestConvert, but tests at a lower level.
+ Similar to convert_test, but tests at a lower level.
"""
for states in range(1, self.maxStates):
for inputs in range(1, self.maxI+1):
for outputs in range(1, self.maxO+1):
for testNum in range(self.numTests):
-
ssOriginal = matlab.rss(states, inputs, outputs)
+ if (verbose):
+ print '====== Original SS =========='
+ print ssOriginal
+ print 'states=',states
+ print 'inputs=',inputs
+ print 'outputs=',outputs
- print '====== Original SS =========='
- print ssOriginal
- print 'states=',states
- print 'inputs=',inputs
- print 'outputs=',outputs
-
tfOriginal_Actrb, tfOriginal_Bctrb, tfOriginal_Cctrb, tfOrigingal_nctrb, tfOriginal_index,\
tfOriginal_dcoeff, tfOriginal_ucoeff = tb04ad(states,inputs,outputs,\
ssOriginal.A,ssOriginal.B,ssOriginal.C,ssOriginal.D,tol1=0.0)
@@ -55,15 +54,16 @@
tfTransformed_index, tfTransformed_dcoeff, tfTransformed_ucoeff = tb04ad(ssTransformed_nr,\
inputs,outputs,ssTransformed_A, ssTransformed_B, ssTransformed_C,ssTransformed_D,tol1=0.0)
#print 'size(Trans_A)=',ssTransformed_A.shape
- print '===== Transformed SS =========='
- print matlab.ss(ssTransformed_A, ssTransformed_B, ssTransformed_C, ssTransformed_D)
- #print 'Trans_nr=',ssTransformed_nr
- #print 'tfOrig_index=',tfOriginal_index
- #print 'tfOrig_ucoeff=',tfOriginal_ucoeff
- #print 'tfOrig_dcoeff=',tfOriginal_dcoeff
- #print 'tfTrans_index=',tfTransformed_index
- #print 'tfTrans_ucoeff=',tfTransformed_ucoeff
- #print 'tfTrans_dcoeff=',tfTransformed_dcoeff
+ if (verbose):
+ print '===== Transformed SS =========='
+ print matlab.ss(ssTransformed_A, ssTransformed_B, ssTransformed_C, ssTransformed_D)
+ # print 'Trans_nr=',ssTransformed_nr
+ # print 'tfOrig_index=',tfOriginal_index
+ # print 'tfOrig_ucoeff=',tfOriginal_ucoeff
+ # print 'tfOrig_dcoeff=',tfOriginal_dcoeff
+ # print 'tfTrans_index=',tfTransformed_index
+ # print 'tfTrans_ucoeff=',tfTransformed_ucoeff
+ # print 'tfTrans_dcoeff=',tfTransformed_dcoeff
#Compare the TF directly, must match
#numerators
np.testing.assert_array_almost_equal(tfOriginal_ucoeff,tfTransformed_ucoeff,decimal=3)
Modified: branches/control-0.4b/tests/test_all.py
===================================================================
--- branches/control-0.4b/tests/test_all.py 2011-04-02 16:15:41 UTC (rev 145)
+++ branches/control-0.4b/tests/test_all.py 2011-04-02 18:13:23 UTC (rev 146)
@@ -7,7 +7,7 @@
import re # regular expressions
import os # operating system commands
-def test_all(verbosity=2):
+def test_all(verbosity=0):
""" Runs all tests written for python-control.
"""
try: # autodiscovery (python 2.7+)
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