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[python-control-discuss] SF.net python-control commit:[226] trunk
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From: <mur...@us...> - 2012-11-03 22:51:30
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Revision: 226
http://sourceforge.net/p/python-control/code/226
Author: murrayrm
Date: 2012-11-03 22:51:28 +0000 (Sat, 03 Nov 2012)
Log Message:
-----------
updated documentation for 0.6c release
Modified Paths:
--------------
trunk/ChangeLog
trunk/doc/analysis.rst
trunk/doc/bdalg_strings.rst
trunk/doc/class_strings.rst
trunk/doc/freqplot.rst
trunk/doc/index.rst
trunk/doc/intro.rst
trunk/doc/modsimp_strings.rst
trunk/doc/modules.rst
trunk/doc/synthesis.rst
trunk/doc/timeresp.rst
trunk/src/bdalg.py
trunk/src/lti.py
trunk/src/statesp.py
Added Paths:
-----------
trunk/doc/utilities.rst
Modified: trunk/ChangeLog
===================================================================
--- trunk/ChangeLog 2012-11-03 21:03:39 UTC (rev 225)
+++ trunk/ChangeLog 2012-11-03 22:51:28 UTC (rev 226)
@@ -1,5 +1,18 @@
2012-11-03 Richard Murray <mu...@al...>
+ * doc/modules.rst: updated documentation format so that items are
+ broken down by functionality and not internal module name. Still
+ not complete, but most functions should now show up in documentation.
+
+ * doc/index.rst: got rid of todos from documentation (not formatted
+ correctly and shouldn't show up in user documentation)
+
+ * src/lti.py: added missing docstrings
+
+ * doc/intro.rst: small tweaks to text, including adding a link to FBS
+
+2012-11-03 Richard Murray <mu...@al...>
+
* src/rlocus.py (_RLSortRoots): convert output of range() to
explicit list for python 3 compatability
Modified: trunk/doc/analysis.rst
===================================================================
--- trunk/doc/analysis.rst 2012-11-03 21:03:39 UTC (rev 225)
+++ trunk/doc/analysis.rst 2012-11-03 22:51:28 UTC (rev 226)
@@ -1,2 +1,22 @@
Control System Analysis
-***********************
\ No newline at end of file
+***********************
+
+.. autofunction:: control.acker
+.. autofunction:: control.ctrb
+.. autofunction:: control.care
+.. autofunction:: control.dare
+.. autofunction:: control.dlyap
+.. autofunction:: control.dcgain
+.. autofunction:: control.evalfr
+.. autofunction:: control.gram
+.. autofunction:: control.lyap
+.. autofunction:: control.freqresp
+.. autofunction:: control.margin
+.. autofunction:: control.markov
+.. autofunction:: control.obsv
+.. autofunction:: control.phase_crossover_frequencies
+.. autofunction:: control.pole
+.. autofunction:: control.root_locus
+.. autofunction:: control.stability_margins
+.. autofunction:: control.zero
+
Modified: trunk/doc/bdalg_strings.rst
===================================================================
--- trunk/doc/bdalg_strings.rst 2012-11-03 21:03:39 UTC (rev 225)
+++ trunk/doc/bdalg_strings.rst 2012-11-03 22:51:28 UTC (rev 226)
@@ -3,5 +3,7 @@
.. toctree::
-.. automodule:: bdalg
- :members:
+.. autofunction:: control.feedback
+.. autofunction:: control.negate
+.. autofunction:: control.parallel
+.. autofunction:: control.series
Modified: trunk/doc/class_strings.rst
===================================================================
--- trunk/doc/class_strings.rst 2012-11-03 21:03:39 UTC (rev 225)
+++ trunk/doc/class_strings.rst 2012-11-03 22:51:28 UTC (rev 226)
@@ -1,6 +1,11 @@
Python-Control Classes
**********************
+LTI System Class
+================
+.. automodule:: lti
+ :members:
+
State Space Class
=================
.. automodule:: statesp
Modified: trunk/doc/freqplot.rst
===================================================================
--- trunk/doc/freqplot.rst 2012-11-03 21:03:39 UTC (rev 225)
+++ trunk/doc/freqplot.rst 2012-11-03 22:51:28 UTC (rev 226)
@@ -5,10 +5,10 @@
Plotting routines
=================
-.. autofunction:: freqplot.bode_plot
-.. autofunction:: freqplot.nyquist_plot
-.. autofunction:: freqplot.gangof4_plot
-.. autofunction:: nichols.nichols_plot
+.. autofunction:: control.bode_plot
+.. autofunction:: control.nyquist_plot
+.. autofunction:: control.gangof4_plot
+.. autofunction:: control.nichols_plot
Utility functions
=================
Modified: trunk/doc/index.rst
===================================================================
--- trunk/doc/index.rst 2012-11-03 21:03:39 UTC (rev 225)
+++ trunk/doc/index.rst 2012-11-03 22:51:28 UTC (rev 226)
@@ -17,17 +17,13 @@
:maxdepth: 2
intro
- class_strings
modules
+ class_strings
+ matlab_strings
examples
Indices and tables
==================
* :ref:`genindex`
-* :ref:`modindex`
* :ref:`search`
-
-----------------------------------
-
-.. todolist::
Modified: trunk/doc/intro.rst
===================================================================
--- trunk/doc/intro.rst 2012-11-03 21:03:39 UTC (rev 225)
+++ trunk/doc/intro.rst 2012-11-03 22:51:28 UTC (rev 226)
@@ -10,14 +10,14 @@
Overview of the Toolbox
-----------------------
-The python-control package is a set of python classes and functions
-that implement common operations for the analysis and design of
-feedback control systems. The initial goal is to implement all of the
-functionality required to work through the examples in the textbook
-Feedback Systems by Astrom and Murray. A MATLAB compatibility package
-(control.matlab) is available that provides many of the common
-functions corresponding to commands available in the MATLAB Control
-Systems Toolbox.
+The python-control package is a set of python classes and functions that
+implement common operations for the analysis and design of feedback control
+systems. The initial goal is to implement all of the functionality required
+to work through the examples in the textbook `Feedback Systems
+<http://www.cds.caltech.edu/~murray/FBSwiki>`_ by Astrom and Murray. A
+MATLAB compatibility package (control.matlab) is available that provides
+many of the common functions corresponding to commands available in the
+MATLAB Control Systems Toolbox.
In addition to the documentation here, there is a project wiki that
contains some additional information about how to use the package
@@ -37,10 +37,9 @@
* You must include commas in vectors. So [1 2 3] must be [1, 2, 3].
* Functions that return multiple arguments use tuples
-* Can't use braces for collections; use tuples instead
-* Transfer functions are only implemented for SISO systems (due to
- limitations in the underlying signals.lti class); use state space
- representations for MIMO systems.
+* You cannot use braces for collections; use tuples instead
+* Transfer functions are currently only implemented for SISO systems; use
+ state space representations for MIMO systems.
Getting Started
---------------
@@ -52,15 +51,16 @@
3. To see if things are working correctly, run ipython -pylab and run
the script 'examples/secord-matlab.py'. This should generate a
step response, Bode plot and Nyquist plot for a simple second order
- system.
+ system. (For more detailed tests, run nosetests in the main directory.)
4. To see the commands that are available, run the following commands in
ipython::
>>> import control
- >>> ?control.matlab
+ >>> ?control
5. If you want to have a MATLAB-like environment for running the control
toolbox, use::
>>> from control.matlab import *
+ >>> ?control.matlab
Modified: trunk/doc/modsimp_strings.rst
===================================================================
--- trunk/doc/modsimp_strings.rst 2012-11-03 21:03:39 UTC (rev 225)
+++ trunk/doc/modsimp_strings.rst 2012-11-03 22:51:28 UTC (rev 226)
@@ -1,5 +1,6 @@
Model Simplification Tools
**************************
-.. automodule:: modelsimp
- :members:
+.. autofunction:: control.balred
+.. autofunction:: control.hsvd
+.. autofunction:: control.modred
Modified: trunk/doc/modules.rst
===================================================================
--- trunk/doc/modules.rst 2012-11-03 21:03:39 UTC (rev 225)
+++ trunk/doc/modules.rst 2012-11-03 22:51:28 UTC (rev 226)
@@ -1,12 +1,13 @@
-Python-Control Modules
-**********************
+Python-Control Functions
+************************
.. toctree::
+ creation
bdalg_strings
analysis
freqplot
timeresp
synthesis
modsimp_strings
- matlab_strings
+ utilities
Modified: trunk/doc/synthesis.rst
===================================================================
--- trunk/doc/synthesis.rst 2012-11-03 21:03:39 UTC (rev 225)
+++ trunk/doc/synthesis.rst 2012-11-03 22:51:28 UTC (rev 226)
@@ -1,2 +1,5 @@
Control System Synthesis
-************************
\ No newline at end of file
+************************
+
+.. autofunction:: control.lqr
+.. autofunction:: control.place
Modified: trunk/doc/timeresp.rst
===================================================================
--- trunk/doc/timeresp.rst 2012-11-03 21:03:39 UTC (rev 225)
+++ trunk/doc/timeresp.rst 2012-11-03 22:51:28 UTC (rev 226)
@@ -1,8 +1,13 @@
Time Domain Simulation
**********************
-.. automodule:: timeresp
- :members:
+Time responses
+==============
+.. autofunction:: control.forced_response
+.. autofunction:: control.initial_response
+.. autofunction:: control.step_response
+Phase portraits
+===============
.. autofunction:: phaseplot.phase_plot
.. autofunction:: phaseplot.box_grid
Added: trunk/doc/utilities.rst
===================================================================
--- trunk/doc/utilities.rst (rev 0)
+++ trunk/doc/utilities.rst 2012-11-03 22:51:28 UTC (rev 226)
@@ -0,0 +1,4 @@
+Utility Functions
+*****************
+
+.. autofunction:: control.unwrap
Modified: trunk/src/bdalg.py
===================================================================
--- trunk/src/bdalg.py 2012-11-03 21:03:39 UTC (rev 225)
+++ trunk/src/bdalg.py 2012-11-03 22:51:28 UTC (rev 226)
@@ -204,7 +204,7 @@
parallel
Notes
- ----
+ -----
This function is a wrapper for the feedback function in the StateSpace and
TransferFunction classes. It calls TransferFunction.feedback if `sys1` is a
TransferFunction object, and StateSpace.feedback if `sys1` is a StateSpace
Modified: trunk/src/lti.py
===================================================================
--- trunk/src/lti.py 2012-11-03 21:03:39 UTC (rev 225)
+++ trunk/src/lti.py 2012-11-03 22:51:28 UTC (rev 226)
@@ -1,7 +1,7 @@
"""lti.py
-The lti module contains the Lti parent class to the child classes StateSpace and
-TransferFunction. It is designed for use in the python-control library.
+The Lti module contains the Lti parent class to the child classes StateSpace
+and TransferFunction. It is designed for use in the python-control library.
Routines in this module:
@@ -13,7 +13,6 @@
"""
class Lti:
-
"""Lti is a parent class to linear time invariant control (LTI) objects.
Lti is the parent to the StateSpace and TransferFunction child
@@ -90,7 +89,16 @@
# Check to see if two timebases are equal
def timebaseEqual(sys1, sys2):
- # TODO: add docstring
+ """Check to see if two systems have the same timebase
+
+ timebaseEqual(sys1, sys2)
+
+ returns True if the timebases for the two systems are compatible. By
+ default, systems with timebase 'None' are compatible with either
+ discrete or continuous timebase systems. If two systems have a discrete
+ timebase (dt > 0) then their timebases must be equal.
+ """
+
if (type(sys1.dt) == bool or type(sys2.dt) == bool):
# Make sure both are unspecified discrete timebases
return type(sys1.dt) == type(sys2.dt) and sys1.dt == sys2.dt
@@ -102,7 +110,17 @@
# Check to see if a system is a discrete time system
def isdtime(sys, strict=False):
- # TODO: add docstring
+ """
+ Check to see if a system is a discrete time system
+
+ Parameters
+ ----------
+ sys : LTI system
+ System to be checked
+ strict: bool (default = False)
+ If strict is True, make sure that timebase is not None
+ """
+
# Check to see if this is a constant
if isinstance(sys, (int, float, complex)):
# OK as long as strict checking is off
@@ -122,7 +140,17 @@
# Check to see if a system is a continuous time system
def isctime(sys, strict=False):
- # TODO: add docstring
+ """
+ Check to see if a system is a continuous time system
+
+ Parameters
+ ----------
+ sys : LTI system
+ System to be checked
+ strict: bool (default = False)
+ If strict is True, make sure that timebase is not None
+ """
+
# Check to see if this is a constant
if isinstance(sys, (int, float, complex)):
# OK as long as strict checking is off
Modified: trunk/src/statesp.py
===================================================================
--- trunk/src/statesp.py 2012-11-03 21:03:39 UTC (rev 225)
+++ trunk/src/statesp.py 2012-11-03 22:51:28 UTC (rev 226)
@@ -1,11 +1,10 @@
-# -*- coding: utf-8 -*-
-"""stateSpace.py
+"""statesp.py
State space representation and functions.
-This file contains the StateSpace class, which is used to represent
-linear systems in state space. This is the primary representation
-for the python-control library.
+This file contains the StateSpace class, which is used to represent linear
+systems in state space. This is the primary representation for the
+python-control library.
Routines in this module:
@@ -73,7 +72,6 @@
Revised: Kevin K. Chen, Dec 10
$Id$
-
"""
from numpy import all, angle, any, array, asarray, concatenate, cos, delete, \
@@ -88,7 +86,6 @@
from control.lti import Lti, timebaseEqual, isdtime
class StateSpace(Lti):
-
"""The StateSpace class represents state space instances and functions.
The StateSpace class is used throughout the python-control library to
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