[python-control-discuss] SF.net python-control commit:[241]

[<mur...@us...>]

Revision: 241
          http://sourceforge.net/p/python-control/code/241
Author:   murrayrm
Date:     2012-11-11 02:49:33 +0000 (Sun, 11 Nov 2012)
Log Message:
-----------
Fixed bugs in various calculations and orders of indices.

Modified Paths:
--------------
    branches/rmm-trajgen/examples/doubleint.py
    branches/rmm-trajgen/trajgen/flatsys.py
    branches/rmm-trajgen/trajgen/poly.py
    trunk/src/lti.py

Modified: branches/rmm-trajgen/examples/doubleint.py
===================================================================
--- branches/rmm-trajgen/examples/doubleint.py	2012-11-11 01:28:03 UTC (rev 240)
+++ branches/rmm-trajgen/examples/doubleint.py	2012-11-11 02:49:33 UTC (rev 241)
@@ -17,5 +17,6 @@
 
 # Find a trajectory
 xd, ud = tg.linear_point_to_point(sys1, x0, xf, 1)
+print(xd)
 
 # Plot the trajectory

Modified: branches/rmm-trajgen/trajgen/flatsys.py
===================================================================
--- branches/rmm-trajgen/trajgen/flatsys.py	2012-11-11 01:28:03 UTC (rev 240)
+++ branches/rmm-trajgen/trajgen/flatsys.py	2012-11-11 02:49:33 UTC (rev 241)
@@ -80,7 +80,7 @@
     # least squares solution for now.
     #
     #! TODO: need to allow cost and constraints...
-    alpha = np.linalg.pinv(M) * np.vstack((zflag_T0, zflag_Tf))
+    alpha = np.dot(np.linalg.pinv(M), np.vstack((zflag_T0, zflag_Tf)))
 
     #
     # Transform the trajectory from flat outputs to states and inputs

Modified: branches/rmm-trajgen/trajgen/poly.py
===================================================================
--- branches/rmm-trajgen/trajgen/poly.py	2012-11-11 01:28:03 UTC (rev 240)
+++ branches/rmm-trajgen/trajgen/poly.py	2012-11-11 02:49:33 UTC (rev 241)
@@ -14,4 +14,4 @@
     # Compute the kth derivative of the ith basis function at time t
     def eval_deriv(self, i, k, t):
         if (i < k): return 0;           # higher derivative than power
-        return sp.misc.factorial(k) * np.power(t, i-k)
+        return sp.misc.factorial(i)/sp.misc.factorial(i-k) * np.power(t, i-k)

Modified: trunk/src/lti.py
===================================================================
--- trunk/src/lti.py	2012-11-11 01:28:03 UTC (rev 240)
+++ trunk/src/lti.py	2012-11-11 02:49:33 UTC (rev 241)
@@ -64,6 +64,16 @@
         self.outputs = outputs
         self.dt = dt
 
+# Test to see if a system is SISO
+def issiso(sys, strict=False):
+    if isinstance(sys, (int, float, complex)) and not strict:
+        return True
+    elif not isinstance(sys, Lti):
+        raise ValueError("Object is not an Lti system")
+
+    # Done with the tricky stuff...
+    return sys.inputs == 1 and sys.outputs == 1
+
 # Return the timebase (with conversion if unspecified)
 def timebase(sys, strict=True):
     """Return the timebase for an Lti system