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[python-control-discuss] SF.net SVN: python-control:[167] trunk
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From: <mur...@us...> - 2011-07-13 16:03:38
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Revision: 167
http://python-control.svn.sourceforge.net/python-control/?rev=167&view=rev
Author: murrayrm
Date: 2011-07-13 16:03:32 +0000 (Wed, 13 Jul 2011)
Log Message:
-----------
* Updated output arguments for matlab.py time response functions to
match MATLAB conventions (they were switched)
* Added long version names for frequency plots: BodePlot, NyquistPlot, etc
* Fixed some import errors in rlocus.py
Details in ChangeLog.
Modified Paths:
--------------
trunk/ChangeLog
trunk/src/freqplot.py
trunk/src/matlab.py
trunk/src/rlocus.py
trunk/tests/matlab_test.py
Modified: trunk/ChangeLog
===================================================================
--- trunk/ChangeLog 2011-07-02 01:55:50 UTC (rev 166)
+++ trunk/ChangeLog 2011-07-13 16:03:32 UTC (rev 167)
@@ -1,3 +1,18 @@
+2011-07-11 Richard Murray <murray@malabar.local>
+
+ * src/rlocus.py: added real() and imag() to list of functions
+ imported from numpy
+
+ * src/freqplot.py: renamed plotting functions to BodePlot,
+ NyquistPlot, GangOf4Plot and MarginPlot. Set up aliases to the more
+ common names (bode, nyquest, gangof4, margin). Mainly playing
+ around with idea for the eventual interface to use.
+
+ * tests/matlab_test.py: updated timeresp outputs to match MATLAB
+
+ * src/matlab.py (impulse, initial, lsim, step): switched outputs
+ from step, impulse, initial, lsim to match MATLAB standard
+
2011-07-01 Richard Murray <murray@malabar.local>
* src/rlocus.py: modified scipy import to only import those
Modified: trunk/src/freqplot.py
===================================================================
--- trunk/src/freqplot.py 2011-07-02 01:55:50 UTC (rev 166)
+++ trunk/src/freqplot.py 2011-07-13 16:03:32 UTC (rev 167)
@@ -55,7 +55,7 @@
#
# Bode plot
-def bode(syslist, omega=None, dB=False, Hz=False, deg=True,
+def BodePlot(syslist, omega=None, dB=False, Hz=False, deg=True,
color=None, Plot=True):
"""Bode plot for a system
@@ -178,7 +178,7 @@
return mags, phases, omegas
# Nyquist plot
-def nyquist(syslist, omega=None, Plot=True):
+def NyquistPlot(syslist, omega=None, Plot=True):
"""Nyquist plot for a system
Plots a Nyquist plot for the system over a (optional) frequency range.
@@ -245,7 +245,7 @@
# Gang of Four
#! TODO: think about how (and whether) to handle lists of systems
-def gangof4(P, C, omega=None):
+def GangOf4Plot(P, C, omega=None):
"""Plot the "Gang of 4" transfer functions for a system
Generates a 2x2 plot showing the "Gang of 4" sensitivity functions
@@ -302,7 +302,7 @@
# gain and phase margins
# contributed by Sawyer B. Fuller <mi...@ca...>
-def margin(sysdata, deg=True):
+def MarginPlot(sysdata, deg=True):
"""Calculate gain and phase margins and associated crossover frequencies
Usage:
@@ -457,3 +457,8 @@
return omega
+# Function aliases
+bode = BodePlot
+nyquist = NyquistPlot
+gangof4 = GangOf4Plot
+margin = MarginPlot
Modified: trunk/src/matlab.py
===================================================================
--- trunk/src/matlab.py 2011-07-02 01:55:50 UTC (rev 166)
+++ trunk/src/matlab.py 2011-07-13 16:03:32 UTC (rev 167)
@@ -1165,12 +1165,12 @@
Returns
-------
+ yout: array
+ Response of the system
+
T: array
Time values of the output
- yout: array
- Response of the system
-
See Also
--------
lsim, initial, impulse
@@ -1181,7 +1181,7 @@
'''
T, yout = timeresp.StepResponse(sys, T, X0, input, output,
transpose = True, **keywords)
- return T, yout
+ return yout, T
def impulse(sys, T=None, input=0, output=0, **keywords):
'''
@@ -1216,10 +1216,10 @@
Returns
-------
+ yout: array
+ Response of the system
T: array
Time values of the output
- yout: array
- Response of the system
See Also
--------
@@ -1231,7 +1231,7 @@
'''
T, yout = timeresp.ImpulseResponse(sys, T, 0, input, output,
transpose = True, **keywords)
- return T, yout
+ return yout, T
def initial(sys, T=None, X0=0., input=0, output=0, **keywords):
'''
@@ -1272,10 +1272,10 @@
Returns
-------
+ yout: array
+ Response of the system
T: array
Time values of the output
- yout: array
- Response of the system
See Also
--------
@@ -1287,7 +1287,7 @@
'''
T, yout = timeresp.InitialResponse(sys, T, X0, input, output,
transpose = True, **keywords)
- return T, yout
+ return yout, T
def lsim(sys, U=0., T=None, X0=0., **keywords):
'''
@@ -1324,10 +1324,10 @@
Returns
-------
+ yout: array
+ Response of the system.
T: array
Time values of the output.
- yout: array
- Response of the system.
xout: array
Time evolution of the state vector.
@@ -1341,4 +1341,4 @@
'''
T, yout, xout = timeresp.ForcedResponse(sys, T, U, X0,
transpose = True, **keywords)
- return T, yout, xout
+ return yout, T, xout
Modified: trunk/src/rlocus.py
===================================================================
--- trunk/src/rlocus.py 2011-07-02 01:55:50 UTC (rev 166)
+++ trunk/src/rlocus.py 2011-07-13 16:03:32 UTC (rev 167)
@@ -46,7 +46,7 @@
# $Id$
# Packages used by this module
-from scipy import array, poly1d, row_stack, zeros_like
+from scipy import array, poly1d, row_stack, zeros_like, real, imag
import scipy.signal # signal processing toolbox
import pylab # plotting routines
import xferfcn # transfer function manipulation
Modified: trunk/tests/matlab_test.py
===================================================================
--- trunk/tests/matlab_test.py 2011-07-02 01:55:50 UTC (rev 166)
+++ trunk/tests/matlab_test.py 2011-07-13 16:03:32 UTC (rev 167)
@@ -95,24 +95,24 @@
t = np.linspace(0, 1, 10)
youttrue = np.array([9., 17.6457, 24.7072, 30.4855, 35.2234, 39.1165,
42.3227, 44.9694, 47.1599, 48.9776])
- tout, yout = step(sys, T=t)
+ yout, tout = step(sys, T=t)
np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
np.testing.assert_array_almost_equal(tout, t)
# Play with arguments
- tout, yout = step(sys, T=t, X0=0)
+ yout, tout = step(sys, T=t, X0=0)
np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
np.testing.assert_array_almost_equal(tout, t)
X0 = np.array([0, 0]);
- tout, yout = step(sys, T=t, X0=X0)
+ yout, tout = step(sys, T=t, X0=X0)
np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
np.testing.assert_array_almost_equal(tout, t)
#Test MIMO system, which contains ``siso_ss1`` twice
sys = self.mimo_ss1
- _t, y_00 = step(sys, T=t, input=0, output=0)
- _t, y_11 = step(sys, T=t, input=1, output=1)
+ y_00, _t = step(sys, T=t, input=0, output=0)
+ y_11, _t = step(sys, T=t, input=1, output=1)
np.testing.assert_array_almost_equal(y_00, youttrue, decimal=4)
np.testing.assert_array_almost_equal(y_11, youttrue, decimal=4)
@@ -122,14 +122,14 @@
t = np.linspace(0, 1, 10)
youttrue = np.array([86., 70.1808, 57.3753, 46.9975, 38.5766, 31.7344,
26.1668, 21.6292, 17.9245, 14.8945])
- tout, yout = impulse(sys, T=t)
+ yout, tout = impulse(sys, T=t)
np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
np.testing.assert_array_almost_equal(tout, t)
#Test MIMO system, which contains ``siso_ss1`` twice
sys = self.mimo_ss1
- _t, y_00 = impulse(sys, T=t, input=0, output=0)
- _t, y_11 = impulse(sys, T=t, input=1, output=1)
+ y_00, _t = impulse(sys, T=t, input=0, output=0)
+ y_11, _t = impulse(sys, T=t, input=1, output=1)
np.testing.assert_array_almost_equal(y_00, youttrue, decimal=4)
np.testing.assert_array_almost_equal(y_11, youttrue, decimal=4)
@@ -140,15 +140,15 @@
x0 = np.matrix(".5; 1.")
youttrue = np.array([11., 8.1494, 5.9361, 4.2258, 2.9118, 1.9092,
1.1508, 0.5833, 0.1645, -0.1391])
- tout, yout = initial(sys, T=t, X0=x0)
+ yout, tout = initial(sys, T=t, X0=x0)
np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
np.testing.assert_array_almost_equal(tout, t)
#Test MIMO system, which contains ``siso_ss1`` twice
sys = self.mimo_ss1
x0 = np.matrix(".5; 1.; .5; 1.")
- _t, y_00 = initial(sys, T=t, X0=x0, input=0, output=0)
- _t, y_11 = initial(sys, T=t, X0=x0, input=1, output=1)
+ y_00, _t = initial(sys, T=t, X0=x0, input=0, output=0)
+ y_11, _t = initial(sys, T=t, X0=x0, input=1, output=1)
np.testing.assert_array_almost_equal(y_00, youttrue, decimal=4)
np.testing.assert_array_almost_equal(y_11, youttrue, decimal=4)
@@ -160,10 +160,10 @@
u = np.array([1., 1, 1, 1, 1, 1, 1, 1, 1, 1])
youttrue = np.array([9., 17.6457, 24.7072, 30.4855, 35.2234, 39.1165,
42.3227, 44.9694, 47.1599, 48.9776])
- tout, yout, _xout = lsim(self.siso_ss1, u, t)
+ yout, tout, _xout = lsim(self.siso_ss1, u, t)
np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
np.testing.assert_array_almost_equal(tout, t)
- _t, yout, _xout = lsim(self.siso_tf3, u, t)
+ yout, _t, _xout = lsim(self.siso_tf3, u, t)
np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
#test with initial value and special algorithm for ``U=0``
@@ -171,7 +171,7 @@
x0 = np.matrix(".5; 1.")
youttrue = np.array([11., 8.1494, 5.9361, 4.2258, 2.9118, 1.9092,
1.1508, 0.5833, 0.1645, -0.1391])
- _t, yout, _xout = lsim(self.siso_ss1, u, t, x0)
+ yout, _t, _xout = lsim(self.siso_ss1, u, t, x0)
np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
#Test MIMO system, which contains ``siso_ss1`` twice
@@ -184,7 +184,7 @@
[1.9092, 39.1165], [1.1508, 42.3227],
[0.5833, 44.9694], [0.1645, 47.1599],
[-0.1391, 48.9776]])
- _t, yout, _xout = lsim(self.mimo_ss1, u, t, x0)
+ yout, _t, _xout = lsim(self.mimo_ss1, u, t, x0)
np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
def testDcgain(self):
@@ -206,7 +206,7 @@
#Compute the gain with a long simulation
t = linspace(0, 1000, 1000)
- _t, y = step(sys_ss, t)
+ y, _t = step(sys_ss, t)
gain_sim = y[-1]
print 'gain_sim:', gain_sim
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