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[python-control-discuss] SF.net SVN: python-control:[172] trunk
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From: <mur...@us...> - 2011-08-07 15:13:05
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Revision: 172
http://python-control.svn.sourceforge.net/python-control/?rev=172&view=rev
Author: murrayrm
Date: 2011-08-07 15:12:58 +0000 (Sun, 07 Aug 2011)
Log Message:
-----------
* Changed function names to be more consistent with python coding
standards (PEP 8): StepReponse is now step_response, etc. No
changes in control.matlab interface.
* Changed version number (for next release) to 0.5a due to changes in
call signatures.
Modified Paths:
--------------
trunk/ChangeLog
trunk/examples/genswitch.py
trunk/examples/phaseplots.py
trunk/examples/pvtol-lqr.py
trunk/examples/pvtol-nested-ss.py
trunk/examples/pvtol-nested.py
trunk/examples/secord-matlab.py
trunk/examples/test-response.py
trunk/setup.py
trunk/src/__init__.py
trunk/src/freqplot.py
trunk/src/margins.py
trunk/src/matlab.py
trunk/src/nichols.py
trunk/src/phaseplot.py
trunk/src/rlocus.py
trunk/src/timeresp.py
trunk/tests/margin_test.py
trunk/tests/phaseplot_test.py
trunk/tests/test_all.py
trunk/tests/timeresp_test.py
Modified: trunk/ChangeLog
===================================================================
--- trunk/ChangeLog 2011-07-26 05:44:01 UTC (rev 171)
+++ trunk/ChangeLog 2011-08-07 15:12:58 UTC (rev 172)
@@ -1,3 +1,37 @@
+2011-08-07 Richard Murray <mu...@ma...>
+
+ * examples/secord-matlab.py, examples/pvtol-nested-ss.py,
+ examples/test-response.py, examples/pvtol-nested.py: fixed small bug
+ in order of output arguments for step command
+
+2011-08-06 Richard Murray <mu...@ma...>
+
+ * src/matlab.py (ngrid): copy documentation from nichols_grid
+
+ * src/__init__.py: changed import commands to import specific
+ functions rather than '*' (better modularity)
+
+ * src/freqplot.py: default function names are now bode_plot,
+ nyquist_plot and gangof4_plot (still with aliases to non-"_plot"
+ versions)
+
+ * src/nichols.py (nichols_plot): updated nichols to nichols_plot for
+ consistency with other python-control plotting functions. Set up
+ alias for original name
+
+ * src/margins.py: StabilityMargins, PhaseCrossoverFrequencies ->
+ stability_margins, phase_crossover_frequencies
+
+ * src/phaseplot.py: changed PhasePlot and boxgrid to phase_plot,
+ box_grid
+
+ * src/timeresp.py: changed ForcedReponse, InitialReponse,
+ ImpulseReponse and StepResponse to forced_response,
+ initial_response, impulse_response and step_response.
+
+ * src/rlocus.py: changed RootLocus to root_locus for better
+ compatability with PEP 8. Also updated unit tests and examples.
+
2011-07-25 Richard Murray <mu...@ma...>
* tests/phaseplot_test.py: updated unit tests to use new call
Modified: trunk/examples/genswitch.py
===================================================================
--- trunk/examples/genswitch.py 2011-07-26 05:44:01 UTC (rev 171)
+++ trunk/examples/genswitch.py 2011-08-07 15:12:58 UTC (rev 172)
@@ -9,7 +9,7 @@
import matplotlib.pyplot as mpl
from scipy.integrate import odeint
from matplotlib.mlab import frange
-from control import PhasePlot, boxgrid
+from control import phase_plot, box_grid
# Simple model of a genetic switch
#
@@ -68,7 +68,7 @@
# Phase portrait
mpl.figure(2); mpl.clf(); # subplot(221);
mpl.axis([0, 5, 0, 5]); # set(gca, 'DataAspectRatio', [1, 1, 1]);
-PhasePlot(genswitch, X0 = boxgrid([0, 5, 6], [0, 5, 6]), T = 10,
+phase_plot(genswitch, X0 = box_grid([0, 5, 6], [0, 5, 6]), T = 10,
timepts = [0.2, 0.6, 1.2])
# Add the stable equilibrium points
Modified: trunk/examples/phaseplots.py
===================================================================
--- trunk/examples/phaseplots.py 2011-07-26 05:44:01 UTC (rev 171)
+++ trunk/examples/phaseplots.py 2011-08-07 15:12:58 UTC (rev 172)
@@ -6,7 +6,7 @@
import numpy as np
import matplotlib.pyplot as mpl
-from control.phaseplot import PhasePlot
+from control.phaseplot import phase_plot
from numpy import pi
# Clear out any figures that are present
@@ -26,7 +26,7 @@
mpl.title('Inverted pendlum')
# Outer trajectories
-PhasePlot(invpend_ode,
+phase_plot(invpend_ode,
X0 = [ [-2*pi, 1.6], [-2*pi, 0.5], [-1.8, 2.1],
[-1, 2.1], [4.2, 2.1], [5, 2.1],
[2*pi, -1.6], [2*pi, -0.5], [1.8, -2.1],
@@ -36,7 +36,7 @@
# Separatrices
mpl.hold(True);
-PhasePlot(invpend_ode, X0 = [[-2.3056, 2.1], [2.3056, -2.1]], T=6, lingrid=0)
+phase_plot(invpend_ode, X0 = [[-2.3056, 2.1], [2.3056, -2.1]], T=6, lingrid=0)
mpl.show();
#
@@ -48,7 +48,7 @@
# Generate a vector plot for the damped oscillator
mpl.figure(); mpl.clf();
-PhasePlot(oscillator_ode, [-1, 1, 10], [-1, 1, 10], 0.15);
+phase_plot(oscillator_ode, [-1, 1, 10], [-1, 1, 10], 0.15);
mpl.hold(True); mpl.plot([0], [0], '.');
# a=gca; set(a,'FontSize',20); set(a,'DataAspectRatio',[1,1,1]);
mpl.xlabel('x1'); mpl.ylabel('x2');
@@ -56,7 +56,7 @@
# Generate a phase plot for the damped oscillator
mpl.figure(); mpl.clf();
mpl.axis([-1, 1, -1, 1]); # set(gca, 'DataAspectRatio', [1, 1, 1]);
-PhasePlot(oscillator_ode,
+phase_plot(oscillator_ode,
X0 = [
[-1, 1], [-0.3, 1], [0, 1], [0.25, 1], [0.5, 1], [0.75, 1], [1, 1],
[1, -1], [0.3, -1], [0, -1], [-0.25, -1], [-0.5, -1], [-0.75, -1], [-1, -1]
@@ -81,7 +81,7 @@
m = 1; b = 1; k = 1; # default values
mpl.figure(); mpl.clf();
mpl.axis([-1, 1, -1, 1]); # set(gca, 'DataAspectRatio', [1 1 1]);
-PhasePlot(oscillator_ode,
+phase_plot(oscillator_ode,
X0 = [
[-1,1], [-0.3,1], [0,1], [0.25,1], [0.5,1], [0.7,1], [1,1], [1.3,1],
[1,-1], [0.3,-1], [0,-1], [-0.25,-1], [-0.5,-1], [-0.7,-1], [-1,-1],
@@ -95,7 +95,7 @@
# Saddle
mpl.figure(); mpl.clf();
mpl.axis([-1, 1, -1, 1]); # set(gca, 'DataAspectRatio', [1 1 1]);
-PhasePlot(saddle_ode, scale = 2, timepts = [0.2, 0.5, 0.8], X0 =
+phase_plot(saddle_ode, scale = 2, timepts = [0.2, 0.5, 0.8], X0 =
[ [-1, -1], [1, 1],
[-1, -0.95], [-1, -0.9], [-1, -0.8], [-1, -0.6], [-1, -0.4], [-1, -0.2],
[-0.95, -1], [-0.9, -1], [-0.8, -1], [-0.6, -1], [-0.4, -1], [-0.2, -1],
@@ -111,7 +111,7 @@
m = 1; b = 0; k = 1; # zero damping
mpl.figure(); mpl.clf();
mpl.axis([-1, 1, -1, 1]); # set(gca, 'DataAspectRatio', [1 1 1]);
-PhasePlot(oscillator_ode, timepts =
+phase_plot(oscillator_ode, timepts =
[pi/6, pi/3, pi/2, 2*pi/3, 5*pi/6, pi, 7*pi/6, 4*pi/3, 9*pi/6, 5*pi/3, 11*pi/6, 2*pi],
X0 = [ [0.2,0], [0.4,0], [0.6,0], [0.8,0], [1,0], [1.2,0], [1.4,0] ],
T = np.linspace(0, 20, 200), parms = (m, b, k));
Modified: trunk/examples/pvtol-lqr.py
===================================================================
--- trunk/examples/pvtol-lqr.py 2011-07-26 05:44:01 UTC (rev 171)
+++ trunk/examples/pvtol-lqr.py 2011-08-07 15:12:58 UTC (rev 172)
@@ -111,11 +111,11 @@
# Step response for the first input
H1ax = ss(Ax - Bx*K1a[0,lat], Bx*K1a[0,lat]*xd[lat,:], Cx, Dx);
-(Tx, Yx) = step(H1ax, T=linspace(0,10,100));
+(Yx, Tx) = step(H1ax, T=linspace(0,10,100));
# Step response for the second input
H1ay = ss(Ay - By*K1a[1,alt], By*K1a[1,alt]*yd[alt,:], Cy, Dy);
-(Ty, Yy) = step(H1ay, T=linspace(0,10,100));
+(Yy, Ty) = step(H1ay, T=linspace(0,10,100));
subplot(221); title("Identity weights")
# plot(T, Y[:,1, 1], '-', T, Y[:,2, 2], '--'); hold(True);
@@ -136,9 +136,9 @@
Qu1c = (200**2)*diag([1, 1]); (K1c, X, E) = lqr(A, B, Qx1, Qu1c);
H1cx = ss(Ax - Bx*K1c[0,lat], Bx*K1c[0,lat]*xd[lat,:],Cx, Dx);
-[T1, Y1] = step(H1ax, T=linspace(0,10,100));
-[T2, Y2] = step(H1bx, T=linspace(0,10,100));
-[T3, Y3] = step(H1cx, T=linspace(0,10,100));
+[Y1, T1] = step(H1ax, T=linspace(0,10,100));
+[Y2, T2] = step(H1bx, T=linspace(0,10,100));
+[Y3, T3] = step(H1cx, T=linspace(0,10,100));
subplot(222); title("Effect of input weights")
plot(T1.T, Y1.T, 'b-'); hold(True);
@@ -160,8 +160,8 @@
H2y = ss(Ay - By*K2[1,alt], By*K2[1,alt]*yd[alt,:], Cy, Dy);
subplot(223); title("Output weighting")
-[T2x, Y2x] = step(H2x, T=linspace(0,10,100));
-[T2y, Y2y] = step(H2y, T=linspace(0,10,100));
+[Y2x, T2x] = step(H2x, T=linspace(0,10,100));
+[Y2y, T2y] = step(H2y, T=linspace(0,10,100));
plot(T2x.T, Y2x.T, T2y.T, Y2y.T)
ylabel('position');
xlabel('time'); ylabel('position');
@@ -183,8 +183,8 @@
H3y = ss(Ay - By*K3[1,alt], By*K3[1,alt]*yd[alt,:], Cy, Dy);
subplot(224)
# step(H3x, H3y, 10);
-[T3x, Y3x] = step(H3x, T=linspace(0,10,100));
-[T3y, Y3y] = step(H3y, T=linspace(0,10,100));
+[Y3x, T3x] = step(H3x, T=linspace(0,10,100));
+[Y3y, T3y] = step(H3y, T=linspace(0,10,100));
plot(T3x.T, Y3x.T, T3y.T, Y3y.T)
title("Physically motivated weights")
xlabel('time');
Modified: trunk/examples/pvtol-nested-ss.py
===================================================================
--- trunk/examples/pvtol-nested-ss.py 2011-07-26 05:44:01 UTC (rev 171)
+++ trunk/examples/pvtol-nested-ss.py 2011-08-07 15:12:58 UTC (rev 172)
@@ -144,10 +144,10 @@
# 'EdgeColor', color, 'FaceColor', color);
figure(9);
-(Tvec, Yvec) = step(T, linspace(1, 20));
+(Yvec, Tvec) = step(T, linspace(1, 20));
plot(Tvec.T, Yvec.T); hold(True);
-(Tvec, Yvec) = step(Co*S, linspace(1, 20));
+(Yvec, Tvec) = step(Co*S, linspace(1, 20));
plot(Tvec.T, Yvec.T);
#TODO: PZmap for statespace systems has not yet been implemented.
Modified: trunk/examples/pvtol-nested.py
===================================================================
--- trunk/examples/pvtol-nested.py 2011-07-26 05:44:01 UTC (rev 171)
+++ trunk/examples/pvtol-nested.py 2011-08-07 15:12:58 UTC (rev 172)
@@ -134,10 +134,10 @@
# 'EdgeColor', color, 'FaceColor', color);
figure(9);
-(Tvec, Yvec) = step(T, linspace(1, 20));
+(Yvec, Tvec) = step(T, linspace(0, 20));
plot(Tvec.T, Yvec.T); hold(True);
-(Tvec, Yvec) = step(Co*S, linspace(1, 20));
+(Yvec, Tvec) = step(Co*S, linspace(0, 20));
plot(Tvec.T, Yvec.T);
figure(10); clf();
Modified: trunk/examples/secord-matlab.py
===================================================================
--- trunk/examples/secord-matlab.py 2011-07-26 05:44:01 UTC (rev 171)
+++ trunk/examples/secord-matlab.py 2011-08-07 15:12:58 UTC (rev 172)
@@ -17,7 +17,7 @@
# Step response for the system
figure(1)
-T, yout = step(sys)
+yout, T = step(sys)
plot(T.T, yout.T)
# Bode plot for the system
Modified: trunk/examples/test-response.py
===================================================================
--- trunk/examples/test-response.py 2011-07-26 05:44:01 UTC (rev 171)
+++ trunk/examples/test-response.py 2011-08-07 15:12:58 UTC (rev 172)
@@ -10,9 +10,9 @@
sys2 = tf([1, 1], [1, 1, 0])
# Generate step responses
-(T1a, y1a) = step(sys1)
-(T1b, y1b) = step(sys1, T = arange(0, 10, 0.1))
-(T1c, y1c) = step(sys1, X0 = [1, 0])
-(T2a, y2a) = step(sys2, T = arange(0, 10, 0.1))
+(y1a, T1a) = step(sys1)
+(y1b, T1b) = step(sys1, T = arange(0, 10, 0.1))
+(y1c, T1c) = step(sys1, X0 = [1, 0])
+(y2a, T2a) = step(sys2, T = arange(0, 10, 0.1))
plot(T1a, y1a, T1b, y1b, T1c, y1c, T2a, y2a)
Modified: trunk/setup.py
===================================================================
--- trunk/setup.py 2011-07-26 05:44:01 UTC (rev 171)
+++ trunk/setup.py 2011-08-07 15:12:58 UTC (rev 172)
@@ -4,7 +4,7 @@
from setuptools import setup
setup(name = 'control',
- version = '0.4d',
+ version = '0.5a',
description = 'Python Control Systems Library',
author = 'Richard Murray',
author_email = 'mu...@cd...',
Modified: trunk/src/__init__.py
===================================================================
--- trunk/src/__init__.py 2011-07-26 05:44:01 UTC (rev 171)
+++ trunk/src/__init__.py 2011-08-07 15:12:58 UTC (rev 172)
@@ -57,17 +57,18 @@
# Import functions from within the control system library
#! Should probably only import the exact functions we use...
-from bdalg import *
-from delay import *
-from freqplot import *
-from margins import *
-from mateqn import *
-from modelsimp import *
-from nichols import *
-from phaseplot import PhasePlot, boxgrid
-from rlocus import *
-from statefbk import *
-from statesp import *
-from timeresp import ForcedResponse, InitialResponse, StepResponse, \
- ImpulseResponse
-from xferfcn import *
+from bdalg import series, parallel, negate, feedback
+from delay import pade
+from freqplot import bode_plot, nyquist_plot, gangof4_plot
+from freqplot import bode, nyquist, gangof4
+from margins import stability_margins, phase_crossover_frequencies
+from mateqn import lyap, dlyap, care, dare
+from modelsimp import hsvd, modred, balred, era, markov
+from nichols import nichols_plot, nichols
+from phaseplot import phase_plot, box_grid
+from rlocus import root_locus
+from statefbk import place, lqr, ctrb, obsv, gram
+from statesp import StateSpace
+from timeresp import forced_response, initial_response, step_response, \
+ impulse_response
+from xferfcn import TransferFunction
Modified: trunk/src/freqplot.py
===================================================================
--- trunk/src/freqplot.py 2011-07-26 05:44:01 UTC (rev 171)
+++ trunk/src/freqplot.py 2011-08-07 15:12:58 UTC (rev 172)
@@ -55,7 +55,7 @@
#
# Bode plot
-def BodePlot(syslist, omega=None, dB=False, Hz=False, deg=True,
+def bode_plot(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 NyquistPlot(syslist, omega=None, Plot=True):
+def nyquist_plot(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 GangOf4Plot(P, C, omega=None):
+def gangof4_plot(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
@@ -363,6 +363,6 @@
return omega
# Function aliases
-bode = BodePlot
-nyquist = NyquistPlot
-gangof4 = GangOf4Plot
+bode = bode_plot
+nyquist = nyquist_plot
+gangof4 = gangof4_plot
Modified: trunk/src/margins.py
===================================================================
--- trunk/src/margins.py 2011-07-26 05:44:01 UTC (rev 171)
+++ trunk/src/margins.py 2011-08-07 15:12:58 UTC (rev 172)
@@ -4,8 +4,8 @@
Routeins in this module:
-margin.StabilityMargins
-margin.PhaseCrossoverFrequencies
+margin.stability_margins
+margin.phase_crossover_frequencies
"""
"""Copyright (c) 2011 by California Institute of Technology
@@ -54,13 +54,13 @@
# gain and phase margins
# contributed by Sawyer B. Fuller <mi...@ca...>
#! TODO - need to add unit test functions
-def StabilityMargins(sysdata, deg=True):
+def stability_margins(sysdata, deg=True):
"""Calculate gain, phase and stability margins and associated
crossover frequencies.
Usage:
- gm, pm, sm, wg, wp, ws = StabilityMargins(sysdata, deg=True)
+ gm, pm, sm, wg, wp, ws = stability_margins(sysdata, deg=True)
Parameters
----------
@@ -149,13 +149,13 @@
# Contributed by Steffen Waldherr <wal...@is...>
#! TODO - need to add test functions
-def PhaseCrossoverFrequencies(sys):
+def phase_crossover_frequencies(sys):
"""
Compute frequencies and gains at intersections with real axis
in Nyquist plot.
Call as:
- omega, gain = PhaseCrossoverFrequencies()
+ omega, gain = phase_crossover_frequencies()
Returns
-------
Modified: trunk/src/matlab.py
===================================================================
--- trunk/src/matlab.py 2011-07-26 05:44:01 UTC (rev 171)
+++ trunk/src/matlab.py 2011-08-07 15:12:58 UTC (rev 172)
@@ -62,6 +62,7 @@
# Libraries that we make use of
import scipy as sp # SciPy library (used all over)
import numpy as np # NumPy library
+import re # regular expressions
from copy import deepcopy
# Import MATLAB-like functions that are defined in other packages
@@ -990,15 +991,10 @@
return freqplot.bode(syslist, omega, **keywords)
# Nichols chart grid
+from nichols import nichols_grid
def ngrid():
- """Nichols chart grid.
-
- Examples
- --------
- >>> ngrid()
- """
- from nichols import nichols_grid
nichols_grid()
+ngrid.__doc__ = re.sub('nichols_grid', 'ngrid', nichols_grid.__doc__)
# Root locus plot
def rlocus(sys, klist = None, **keywords):
@@ -1018,12 +1014,12 @@
klist:
list of gains used to compute roots
"""
- from rlocus import RootLocus
+ from rlocus import root_locus
if (klist == None):
#! TODO: update with a smart cacluation of the gains
klist = logspace(-3, 3)
- rlist = RootLocus(sys, klist, **keywords)
+ rlist = root_locus(sys, klist, **keywords)
return rlist, klist
def margin(*args):
@@ -1060,9 +1056,9 @@
"""
if len(args) == 1:
sys = args[0]
- margin = margins.StabilityMargins(sys)
+ margin = margins.stability_margins(sys)
elif len(args) == 3:
- margin = margins.StabilityMargins(args)
+ margin = margins.stability_margins(args)
else:
raise ValueError("Margin needs 1 or 3 arguments; received %i."
% len(args))
@@ -1157,7 +1153,7 @@
**keywords:
Additional keyword arguments control the solution algorithm for the
differential equations. These arguments are passed on to the function
- :func:`control.ForcedResponse`, which in turn passes them on to
+ :func:`control.forced_response`, which in turn passes them on to
:func:`scipy.integrate.odeint`. See the documentation for
:func:`scipy.integrate.odeint` for information about these
arguments.
@@ -1178,7 +1174,7 @@
--------
>>> T, yout = step(sys, T, X0)
'''
- T, yout = timeresp.StepResponse(sys, T, X0, input, output,
+ T, yout = timeresp.step_response(sys, T, X0, input, output,
transpose = True, **keywords)
return yout, T
@@ -1228,7 +1224,7 @@
--------
>>> T, yout = impulse(sys, T)
'''
- T, yout = timeresp.ImpulseResponse(sys, T, 0, input, output,
+ T, yout = timeresp.impulse_response(sys, T, 0, input, output,
transpose = True, **keywords)
return yout, T
@@ -1284,7 +1280,7 @@
--------
>>> T, yout = initial(sys, T, X0)
'''
- T, yout = timeresp.InitialResponse(sys, T, X0, input, output,
+ T, yout = timeresp.initial_response(sys, T, X0, input, output,
transpose = True, **keywords)
return yout, T
@@ -1338,6 +1334,6 @@
--------
>>> T, yout, xout = lsim(sys, U, T, X0)
'''
- T, yout, xout = timeresp.ForcedResponse(sys, T, U, X0,
+ T, yout, xout = timeresp.forced_response(sys, T, U, X0,
transpose = True, **keywords)
return yout, T, xout
Modified: trunk/src/nichols.py
===================================================================
--- trunk/src/nichols.py 2011-07-26 05:44:01 UTC (rev 171)
+++ trunk/src/nichols.py 2011-08-07 15:12:58 UTC (rev 172)
@@ -46,7 +46,7 @@
from freqplot import default_frequency_range
# Nichols plot
-def nichols(syslist, omega=None, grid=True):
+def nichols_plot(syslist, omega=None, grid=True):
"""Nichols plot for a system
Plots a Nichols plot for the system over a (optional) frequency range.
@@ -294,3 +294,6 @@
mags = sp.linspace(10**(mag_min/20.0), 10**(mag_max/20.0), 2000)
Gcl_phases, Gcl_mags = sp.meshgrid(sp.radians(phases), mags)
return closed_loop_contours(Gcl_mags, Gcl_phases)
+
+# Function aliases
+nichols = nichols_plot
Modified: trunk/src/phaseplot.py
===================================================================
--- trunk/src/phaseplot.py 2011-07-26 05:44:01 UTC (rev 171)
+++ trunk/src/phaseplot.py 2011-08-07 15:12:58 UTC (rev 172)
@@ -39,7 +39,7 @@
from exception import ControlNotImplemented
from scipy.integrate import odeint
-def PhasePlot(odefun, X=None, Y=None, scale=1, X0=None, T=None,
+def phase_plot(odefun, X=None, Y=None, scale=1, X0=None, T=None,
lingrid=None, lintime=None, logtime=None, timepts=None,
parms=(), verbose=True):
"""
@@ -48,12 +48,12 @@
Produces a vector field or stream line plot for a planar system.
Call signatures:
- PhasePlot(func, X, Y, ...) - display vector field on meshgrid
- PhasePlot(func, X, Y, scale, ...) - scale arrows
- PhasePlot(func. X0=(...), T=Tmax, ...) - display stream lines
- PhasePlot(func, X, Y, X0=[...], T=Tmax, ...) - plot both
- PhasePlot(func, X0=[...], T=Tmax, lingrid=N, ...) - plot both
- PhasePlot(func, X0=[...], lintime=N, ...) - stream lines with arrows
+ phase_plot(func, X, Y, ...) - display vector field on meshgrid
+ phase_plot(func, X, Y, scale, ...) - scale arrows
+ phase_plot(func. X0=(...), T=Tmax, ...) - display stream lines
+ phase_plot(func, X, Y, X0=[...], T=Tmax, ...) - plot both
+ phase_plot(func, X0=[...], T=Tmax, lingrid=N, ...) - plot both
+ phase_plot(func, X0=[...], lintime=N, ...) - stream lines with arrows
Parameters
----------
@@ -104,7 +104,7 @@
See also
--------
- boxgrid(X, Y): construct box-shaped grid of initial conditions
+ box_grid(X, Y): construct box-shaped grid of initial conditions
Examples
--------
@@ -274,10 +274,10 @@
return;
# Utility function for generating initial conditions around a box
-def boxgrid(xlimp, ylimp):
- """BOXGRID generate list of points on edge of box
+def box_grid(xlimp, ylimp):
+ """box_grid generate list of points on edge of box
- list = BOXGRID([xmin xmax xnum], [ymin ymax ynum]) generates a
+ list = box_grid([xmin xmax xnum], [ymin ymax ynum]) generates a
list of points that correspond to a uniform grid at the end of the
box defined by the corners [xmin ymin] and [xmax ymax].
"""
Modified: trunk/src/rlocus.py
===================================================================
--- trunk/src/rlocus.py 2011-07-26 05:44:01 UTC (rev 171)
+++ trunk/src/rlocus.py 2011-08-07 15:12:58 UTC (rev 172)
@@ -52,7 +52,7 @@
import xferfcn # transfer function manipulation
# Main function: compute a root locus diagram
-def RootLocus(sys, kvect, xlim=None, ylim=None, plotstr='-', Plot=True):
+def root_locus(sys, kvect, xlim=None, ylim=None, plotstr='-', Plot=True):
"""Calculate the root locus by finding the roots of 1+k*TF(s)
where TF is self.num(s)/self.den(s) and each k is an element
of kvect.
Modified: trunk/src/timeresp.py
===================================================================
--- trunk/src/timeresp.py 2011-07-26 05:44:01 UTC (rev 171)
+++ trunk/src/timeresp.py 2011-08-07 15:12:58 UTC (rev 172)
@@ -53,8 +53,8 @@
This is a convention for function arguments and return values that
represent time series: sequences of values that change over time. It
is used throughout the library, for example in the functions
-:func:`ForcedResponse`, :func:`StepResponse`, :func:`ImpulseResponse`,
-and :func:`InitialResponse`.
+:func:`forced_response`, :func:`step_response`, :func:`impulse_response`,
+and :func:`initial_response`.
.. note::
This convention is different from the convention used in the library
@@ -235,7 +235,7 @@
return out_array
# Forced response of a linear system
-def ForcedResponse(sys, T=None, U=0., X0=0., transpose=False, **keywords):
+def forced_response(sys, T=None, U=0., X0=0., transpose=False, **keywords):
"""Simulate the output of a linear system.
As a convenience for parameters `U`, `X0`:
@@ -285,11 +285,11 @@
See Also
--------
- StepResponse, InitialResponse, ImpulseResponse
+ step_response, initial_response, impulse_response
Examples
--------
- >>> T, yout, xout = ForcedResponse(sys, T, u, X0)
+ >>> T, yout, xout = forced_response(sys, T, u, X0)
"""
if not isinstance(sys, Lti):
raise TypeError('Parameter ``sys``: must be a ``Lti`` object. '
@@ -365,7 +365,7 @@
return T, yout, xout
-def StepResponse(sys, T=None, X0=0., input=0, output=0, \
+def step_response(sys, T=None, X0=0., input=0, output=0, \
transpose = False, **keywords):
#pylint: disable=W0622
"""Step response of a linear system
@@ -419,11 +419,11 @@
See Also
--------
- ForcedResponse, InitialResponse, ImpulseResponse
+ forced_response, initial_response, impulse_response
Examples
--------
- >>> T, yout = StepResponse(sys, T, X0)
+ >>> T, yout = step_response(sys, T, X0)
"""
sys = _convertToStateSpace(sys)
sys = _mimo2siso(sys, input, output, warn_conversion=True)
@@ -431,13 +431,13 @@
T = _default_response_times(sys.A, 100)
U = np.ones_like(T)
- T, yout, _xout = ForcedResponse(sys, T, U, X0,
+ T, yout, _xout = forced_response(sys, T, U, X0,
transpose=transpose, **keywords)
return T, yout
-def InitialResponse(sys, T=None, X0=0., input=0, output=0, transpose=False,
+def initial_response(sys, T=None, X0=0., input=0, output=0, transpose=False,
**keywords):
#pylint: disable=W0622
"""Initial condition response of a linear system
@@ -491,26 +491,26 @@
See Also
--------
- ForcedResponse, ImpulseResponse, StepResponse
+ forced_response, impulse_response, step_response
Examples
--------
- >>> T, yout = InitialResponse(sys, T, X0)
+ >>> T, yout = initial_response(sys, T, X0)
"""
sys = _convertToStateSpace(sys)
sys = _mimo2siso(sys, input, output, warn_conversion=True)
- #Create time and input vectors; checking is done in ForcedResponse(...)
- #The initial vector X0 is created in ForcedResponse(...) if necessary
+ #Create time and input vectors; checking is done in forced_response(...)
+ #The initial vector X0 is created in forced_response(...) if necessary
if T is None:
T = _default_response_times(sys.A, 100)
U = np.zeros_like(T)
- T, yout, _xout = ForcedResponse(sys, T, U, X0, transpose=transpose,
+ T, yout, _xout = forced_response(sys, T, U, X0, transpose=transpose,
**keywords)
return T, yout
-def ImpulseResponse(sys, T=None, X0=0., input=0, output=0,
+def impulse_response(sys, T=None, X0=0., input=0, output=0,
transpose=False, **keywords):
#pylint: disable=W0622
"""Impulse response of a linear system
@@ -564,11 +564,11 @@
See Also
--------
- ForcedReponse, InitialResponse, StepResponse
+ ForcedReponse, initial_response, step_response
Examples
--------
- >>> T, yout = ImpulseResponse(sys, T, X0)
+ >>> T, yout = impulse_response(sys, T, X0)
"""
sys = _convertToStateSpace(sys)
sys = _mimo2siso(sys, input, output, warn_conversion=True)
@@ -597,7 +597,7 @@
T = _default_response_times(sys.A, 100)
U = np.zeros_like(T)
- T, yout, _xout = ForcedResponse(sys, T, U, new_X0, \
+ T, yout, _xout = forced_response(sys, T, U, new_X0, \
transpose=transpose, **keywords)
return T, yout
Modified: trunk/tests/margin_test.py
===================================================================
--- trunk/tests/margin_test.py 2011-07-26 05:44:01 UTC (rev 171)
+++ trunk/tests/margin_test.py 2011-08-07 15:12:58 UTC (rev 172)
@@ -7,7 +7,7 @@
import numpy as np
from control.xferfcn import TransferFunction
from control.statesp import StateSpace
-from control.margin import *
+from control.margins import *
class TestMargin(unittest.TestCase):
"""These are tests for the margin commands in margin.py."""
@@ -18,25 +18,25 @@
self.sys3 = StateSpace([[1., 4.], [3., 2.]], [[1.], [-4.]],
[[1., 0.]], [[0.]])
- def testGainPhaseMargin(self):
- gm, pm, sm, wg, wp, ws = StabilityMargins(self.sys1);
- gm, pm, sm, wg, wp, ws = StabilityMargins(self.sys2);
- gm, pm, sm, wg, wp, ws = StabilityMargins(self.sys3);
+ def test_stability_margins(self):
+ gm, pm, sm, wg, wp, ws = stability_margins(self.sys1);
+ gm, pm, sm, wg, wp, ws = stability_margins(self.sys2);
+ gm, pm, sm, wg, wp, ws = stability_margins(self.sys3);
- def testPhaseCrossoverFrequencies(self):
- omega, gain = PhaseCrossoverFrequencies(self.sys2)
+ def test_phase_crossover_frequencies(self):
+ omega, gain = phase_crossover_frequencies(self.sys2)
np.testing.assert_array_almost_equal(omega, [1.73205, 0.])
np.testing.assert_array_almost_equal(gain, [-0.5, 0.25])
tf = TransferFunction([1],[1,1])
- omega, gain = PhaseCrossoverFrequencies(tf)
+ omega, gain = phase_crossover_frequencies(tf)
np.testing.assert_array_almost_equal(omega, [0.])
np.testing.assert_array_almost_equal(gain, [1.])
# testing MIMO, only (0,0) element is considered
tf = TransferFunction([[[1],[2]],[[3],[4]]],
[[[1, 2, 3, 4],[1,1]],[[1,1],[1,1]]])
- omega, gain = PhaseCrossoverFrequencies(tf)
+ omega, gain = phase_crossover_frequencies(tf)
np.testing.assert_array_almost_equal(omega, [1.73205081, 0.])
np.testing.assert_array_almost_equal(gain, [-0.5, 0.25])
Modified: trunk/tests/phaseplot_test.py
===================================================================
--- trunk/tests/phaseplot_test.py 2011-07-26 05:44:01 UTC (rev 171)
+++ trunk/tests/phaseplot_test.py 2011-08-07 15:12:58 UTC (rev 172)
@@ -21,18 +21,18 @@
pass;
def testInvPendNoSims(self):
- PhasePlot(self.invpend_ode, (-6,6,10), (-6,6,10));
+ phase_plot(self.invpend_ode, (-6,6,10), (-6,6,10));
def testInvPendSims(self):
- PhasePlot(self.invpend_ode, (-6,6,10), (-6,6,10),
+ phase_plot(self.invpend_ode, (-6,6,10), (-6,6,10),
X0 = ([1,1], [-1,1]));
def testInvPendTimePoints(self):
- PhasePlot(self.invpend_ode, (-6,6,10), (-6,6,10),
+ phase_plot(self.invpend_ode, (-6,6,10), (-6,6,10),
X0 = ([1,1], [-1,1]), T=np.linspace(0,5,100));
def testInvPendLogtime(self):
- PhasePlot(self.invpend_ode, X0 =
+ phase_plot(self.invpend_ode, X0 =
[ [-2*pi, 1.6], [-2*pi, 0.5], [-1.8, 2.1],
[-1, 2.1], [4.2, 2.1], [5, 2.1],
[2*pi, -1.6], [2*pi, -0.5], [1.8, -2.1],
@@ -42,12 +42,12 @@
verbose=False)
def testInvPendAuto(self):
- PhasePlot(self.invpend_ode, lingrid = 0, X0=
+ phase_plot(self.invpend_ode, lingrid = 0, X0=
[[-2.3056, 2.1], [2.3056, -2.1]], T=6, verbose=False)
def testOscillatorParams(self):
m = 1; b = 1; k = 1; # default values
- PhasePlot(self.oscillator_ode, timepts = [0.3, 1, 2, 3], X0 =
+ phase_plot(self.oscillator_ode, timepts = [0.3, 1, 2, 3], X0 =
[[-1,1], [-0.3,1], [0,1], [0.25,1], [0.5,1], [0.7,1],
[1,1], [1.3,1], [1,-1], [0.3,-1], [0,-1], [-0.25,-1],
[-0.5,-1], [-0.7,-1], [-1,-1], [-1.3,-1]],
Modified: trunk/tests/test_all.py
===================================================================
--- trunk/tests/test_all.py 2011-07-26 05:44:01 UTC (rev 171)
+++ trunk/tests/test_all.py 2011-08-07 15:12:58 UTC (rev 172)
@@ -1,6 +1,6 @@
#!/usr/bin/env python
#
-# test_al.py - test suit for python-control
+# test_all.py - test suit for python-control
# RMM, 30 Mar 2011
import unittest # unit test module
Modified: trunk/tests/timeresp_test.py
===================================================================
--- trunk/tests/timeresp_test.py 2011-07-26 05:44:01 UTC (rev 171)
+++ trunk/tests/timeresp_test.py 2011-08-07 15:12:58 UTC (rev 172)
@@ -43,7 +43,7 @@
"0. 9. ")
self.mimo_ss1 = StateSpace(A, B, C, D)
- def testStepResponse(self):
+ def test_step_response(self):
#Test SISO system
sys = self.siso_ss1
t = np.linspace(0, 1, 10)
@@ -51,64 +51,64 @@
42.3227, 44.9694, 47.1599, 48.9776])
# SISO call
- tout, yout = StepResponse(sys, T=t)
+ tout, yout = step_response(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 = StepResponse(sys, T=t, X0=0)
+ tout, yout = step_response(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 = StepResponse(sys, T=t, X0=X0)
+ tout, yout = step_response(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 = StepResponse(sys, T=t, input=0, output=0)
- _t, y_11 = StepResponse(sys, T=t, input=1, output=1)
+ _t, y_00 = step_response(sys, T=t, input=0, output=0)
+ _t, y_11 = step_response(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)
- def testImpulseResponse(self):
+ def test_impulse_response(self):
#Test SISO system
sys = self.siso_ss1
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 = ImpulseResponse(sys, T=t)
+ tout, yout = impulse_response(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 = ImpulseResponse(sys, T=t, input=0, output=0)
- _t, y_11 = ImpulseResponse(sys, T=t, input=1, output=1)
+ _t, y_00 = impulse_response(sys, T=t, input=0, output=0)
+ _t, y_11 = impulse_response(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)
- def testInitialResponse(self):
+ def test_initial_response(self):
#Test SISO system
sys = self.siso_ss1
t = np.linspace(0, 1, 10)
x0 = np.array([[0.5], [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 = InitialResponse(sys, T=t, X0=x0)
+ tout, yout = initial_response(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 = InitialResponse(sys, T=t, X0=x0, input=0, output=0)
- _t, y_11 = InitialResponse(sys, T=t, X0=x0, input=1, output=1)
+ _t, y_00 = initial_response(sys, T=t, X0=x0, input=0, output=0)
+ _t, y_11 = initial_response(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)
- def testForcedResponse(self):
+ def test_forced_response(self):
t = np.linspace(0, 1, 10)
#compute step response - test with state space, and transfer function
@@ -116,10 +116,10 @@
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 = ForcedResponse(self.siso_ss1, t, u)
+ tout, yout, _xout = forced_response(self.siso_ss1, t, u)
np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
np.testing.assert_array_almost_equal(tout, t)
- _t, yout, _xout = ForcedResponse(self.siso_tf2, t, u)
+ _t, yout, _xout = forced_response(self.siso_tf2, t, u)
np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
#test with initial value and special algorithm for ``U=0``
@@ -127,7 +127,7 @@
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 = ForcedResponse(self.siso_ss1, t, u, x0)
+ _t, yout, _xout = forced_response(self.siso_ss1, t, u, x0)
np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
#Test MIMO system, which contains ``siso_ss1`` twice
@@ -139,7 +139,7 @@
1.1508, 0.5833, 0.1645, -0.1391],
[9., 17.6457, 24.7072, 30.4855, 35.2234, 39.1165,
42.3227, 44.9694, 47.1599, 48.9776]])
- _t, yout, _xout = ForcedResponse(self.mimo_ss1, t, u, x0)
+ _t, yout, _xout = forced_response(self.mimo_ss1, t, u, x0)
np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
def suite():
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