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[python-control-discuss] SF.net python-control commit:[297] trunk/doc
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From: <mur...@us...> - 2014-03-22 19:43:06
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Revision: 297
http://sourceforge.net/p/python-control/code/297
Author: murrayrm
Date: 2014-03-22 19:42:52 +0000 (Sat, 22 Mar 2014)
Log Message:
-----------
tagged v0.6d and updated version to 0.6e
Modified Paths:
--------------
trunk/doc/conf.py
trunk/setup.py
Added Paths:
-----------
tags/control-0.6d/
tags/control-0.6d/ChangeLog
tags/control-0.6d/external/yottalab.py
tags/control-0.6d/src/bdalg.py
tags/control-0.6d/src/dtime.py
tags/control-0.6d/src/frdata.py
tags/control-0.6d/src/matlab.py
tags/control-0.6d/tests/discrete_test.py
tags/control-0.6d/tests/frd_test.py
Removed Paths:
-------------
tags/control-0.6d/ChangeLog
tags/control-0.6d/external/yottalab.py
tags/control-0.6d/src/bdalg.py
tags/control-0.6d/src/dtime.py
tags/control-0.6d/src/frdata.py
tags/control-0.6d/src/matlab.py
tags/control-0.6d/tests/discrete_test.py
tags/control-0.6d/tests/frd_test.py
Deleted: tags/control-0.6d/ChangeLog
===================================================================
--- trunk/ChangeLog 2013-07-16 14:59:20 UTC (rev 293)
+++ tags/control-0.6d/ChangeLog 2014-03-22 19:42:52 UTC (rev 297)
@@ -1,1075 +0,0 @@
-2013-07-15 Richard Murray <mu...@al...>
-
- * src/frdata.py, src/xferfcn.py: updated to use __truediv__ and
- __rtruediv__ for compatibility with python3
-
-2013-07-14 Richard Murray <mu...@al...>
-
- * src/dtime.py (sample_system): added check to make sure
- cont2discrete is available in scipy.signal
- (sample_system): added docstring
-
-2013-06-24 Richard Murray <mu...@al...>
-
- * tests/minreal_test.py (TestMinreal.testMinrealBrute),
- src/xferfcn.py (_convertToTransferFunction), src/statesp.py
- (StateSpace.__rmul__), src/margins.py (stability_margins): changed
- exception syntax to be python3 compatibile (works for python2.6+)
-
-2013-06-10 Richard Murray <mu...@al...>
-
- * src/xferfcn.py (TransferFunction.horner): small fix to docstring
-
- * src/freqplot.py (nyquist_plot): small fix to docstring
-
-2013-06-09 Richard Murray <mu...@al...>
-
- * tests/bdalg_test.py (TestFeedback.testScalarSS)
- (TestFeedback.testScalarTF): added simple test of default argument
- to feedback() for state space and transfer function systems
-
- * tests/frd_test.py (TestFRD.testFeedback): added test of default
- argument to feedback() for FRD type
-
- * src/bdalg.py (feedback):
- * src/frdata.py (FRD.feedback):
- * src/statesp.py (StateSpace.feedback):
- patched in default value of 1 for other system in feedback().
- Contributed by Ryan Krauss <rk...@si...>
-
- * tests/xferfcn_test.py (TestXferFcn.testEvalFrMIMO)
- (TestXferFcn.testEvalFrSISO): added tests of __call__ version of
- evalfr.
-
- * src/xferfcn.py (TransferFunction.__call__): patched in new
- __call__ functionality from Ryan Krauss <rk...@si...>, but
- modified to use evalfr (works with MIMO). SISO transfer functions
- return a single complex number, MIMO transfer functions return a
- matrix of complex numbers.
-
-2013-05-23 Rene van Paassen <ren...@gm...>
-
- * src/margin.py: re-vamped stability_margins function. Now
- uses analytical method for TF and state-space, works on FRD
- objects too, and can optionally return all margins found for
- the analytical method.
-
- * src/xferfcn.py and src/frdata.py: Now return array result
- for fresp when called with an iterable frequency vector
-
- * src/xferfcn.py and src/statesp.py: added minreal functions
-
- * src/bdalg.py: implemented append and connect functions (old
- version, with indexes, not with names)
-
- * src/matlab.py: added connect, append, minreal
-
- * src/xferfcn.py and src/statesp.py: added/corrected
- __rmul__. In most cases a gain matrix (np.matrix) may now be
- used in combination with ss or tf systems.
-
-2012-11-10 Richard Murray <mu...@al...>
-
- * src/canonical.py: new module implementing conversions to selected
- canonical forms: canonical_form(), reachable_form() implemented
-
- * src/lti.py (issiso): new function to quickly check if a system is
- single input, single output or not
-
-2012-11-04 Richard Murray <mu...@al...>
-
- * src/__init__.py: added action item to separate out matlab module
- functionality (eventually)
-
- * src/matlab.py: added code for setting up MATLAB defaults if matlab
- submodule is imported instead of main (control) module. See
- comments in __init.py__ for what needs to be done to implement.
-
- * src/freqplot.py (bode_plot): moved default values of plotting
- options to config module to allow easier use override
-
- * src/config.py: new module to help set package defaults
-
- * src/xferfcn.py (_convertToTransferFunction): removed extraneous
- print statements if slycot is not installed
-
- * src/statesp.py (StateSpace.__str__): fixed error in printing
- timebase when dt is None (python 3)
-
----- control-0.6c released -----
-
-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
-
- * tests/modelsimp_test.py, tests/slycot_convert_test.py,
- tests/mateqn_test.py, tests/statefbk_test.py: updated test suites to
- skip specific tests that require slycot if it is not installed
-
- * src/exception.py (slycot_check): added a function to check if
- slycot is installed
-
- * README: updated readme to include information about running
- nosetests, which works in python3 (unlike the test_all.py script)
-
- * tests/test_control_matlab.py, tests/test_all.py: set to executable
- so that nosetests does not run this file (it already runs all unit
- tests in this directory). Add comments at top talking about tests.
-
- * tests/discrete_test.py (TestDiscrete.test_discrete_bode):
- explicitly create a list from map() output for python 3
-
- * src/frdata.py: removed long data type from comparisons for
- constant systems (not supported in python3)
-
- * src/xferfcn.py (TransferFunction.freqresp): force frequencies to
- be a list (map returns iterator in python3)
-
- * src/lti.py (isdtime, isctime): updated timebase checking since
- python3 won't allow dt to be compared to integer
-
- * src/__init__.py: updated frdata import to python3 compatible form
-
- * src/statesp.py (_convertToStateSpace): fixed exception syntax to
- be python3 compatible
-
- * examples/pvtol-nested.py: converted print statements to be python3
- compatible
-
- * doc/class_strings.rst: added FRD class to list of classes that
- show up in the user documentation
-
- * examples/rss-balred.py: fixed error in output argument order for
- call to matlab.impulse
-
- * ../README: updated readme file as a test of post-commit hook
-
-2012-11-02 Richard Murray <mu...@al...>
-
- * doc/conf.py, setup.py: updated version number to 0.6c
-
- * tests/frd_test.py: unit tests for FRD data type
- (suite): added suite() function to allow test_all.py to work
-
- * tests/xferfcn_test.py (TestXferFcn.testMinreal): new unit test
-
- * src/xferfcn.py (TransferFunction.minreal): new function for
- removing cancelling pole/zero pairs, contributed by M.M. (Rene) van
- Paassen
-
- * src/statesp.py (_convertToStateSpace): new functionality for
- converting a matrix to a constant system
-
- * src/modelsimp.py (minreal): removed extraneous code (moved to
- xferfcn.py)
-
- * src/frdata.py: new file implementing FRD data type, contributed by
- M.M. (Rene) van Paassen
-
- * src/xferfcn.py: resolved conflict between versions
-
----- control-0.6b released -----
-
-2012-11-02 Richard Murray <mu...@al...>
-
- * src/xferfcn.py, src/statesp.py, src/lti.py, src/bdalg.py:
- constants must now be of type 'int' rather than 'long' (for python 3
- compatibility)
-
- * tests/statefbk_test.py, tests/slycot_convert_test.py,
- tests/convert_test.py: added import __future__ calls for python 3
- compatibility; updated print calls
-
- * src/modelsimp.py, src/xferfcn.py, src/delay.py, src/phaseplot.py,
- src/margins.py, src/statesp.py, src/mateqn.py: added import
- __future__ calls for python 3 compatibility
-
-2012-11-02 Richard Murray <mu...@al...>
-
- * src/xferfcn.py, src/timeresp.py, src/statesp.py, src/statefbk.py,
- src/robust.py, src/rlocus.py, src/pzmap.py, src/phaseplot.py,
- src/nichols.py, src/modelsimp.py, src/matlab.py, src/margins.py,
- src/freqplot.py, src/ctrlutil.py, src/bdalg.py: globally referenced
- import commands for python 3.x
-
- * src/__init__.py: changed import commands to be global instead of
- local ('from control.bdalg ...' instead of 'from bdalg ...')
-
-2012-10-31 Richard Murray <mu...@al...>
-
- * src/xferfcn.py (TransferFunction._common_den): converted print
- statements to python 3 compatible form and included
- __future__.print_function
-
- * src/phaseplot.py: converted print statements to python 3
- compatible form and included __future__.print_function
-
- * src/mateqn.py (lyap, dlyap): converted except T, E to except T(E)
-
- * src/margins.py: converted print statements to python 3
- compatible form and included __future__.print_function
-
- * src/xferfcn.py (TransferFunction.__add__, __mul__, __div__,
- feedback): converted raise T, E to raise T(E) for python 3
-
- * src/xferfcn.py (TransferFunction.returnScipySignalLti): fixed
- raise(T(E)) bug
-
- * src/statesp.py (_rss_generate): fixed raise(T(E)) bug
-
- * src/statefbk.py (acker, gram): converted raise T, E to raise T(E) for
- python 3
-
- * src/modelsimp.py (hsvd, modred, balred): fixed raise(T(E)) bug and
- converted raise T, E to raise T(E) for python 3
-
- * src/margins.py (stability_margins): fixed raise(T(E)) bug
-
- * src/statesp.py: converted raise T, E to raise T(E) for python 3
-
- * tests/test_all.py: converted print statements to python 3
- compatible form and included __future__.print_function
-
- * tests/statefbk_test.py (TestStatefbk.setUp): turned off debugging
- flag (accidently left on)
-
----- control-0.6a released -----
-
-2012-10-27 Richard Murray <mu...@al...>
-
- * src/statefbk.py (acker): small updates to docstring
-
- * src/bdalg.py (feedback): fixed up docstring formatting (for sphinx)
-
- * tests/statefbk_test.py (TestStatefbk.testAcker): skip
- ill-conditioned systems and loosened tolerances on acker() testing
-
- * src/lti.py (timebaseEqual): replaced "type(sys.dt) == NoneType"
- with "sys.dt is None", based on feedback from Luke Peterson that
- NoneType is deprecated in python 3.
-
-2012-10-22 Richard Murray <mu...@al...>
-
- * examples/genswitch.py (genswitch): updated calls to legend, fixing
- problem pointed out by Scott Livingston
-
-2012-10-19 Richard Murray <mu...@dn...>
-
- * src/matlab.py (rlocus): reverted change in default argument
- processing for klist. This has some negative consequences:
- http://www.deadlybloodyserious.com/2008/05/default-argument-blunders/
-
-2012-10-18 Richard Murray <mu...@dn...>
-
- * src/freqplot.py (gangof4_plot, nyquist_plot): discrete time
- systems supported (through fresp)
-
- * src/statesp.py (StateSpace.evalfr): added warning if discrete time
- evaluation is above Nyquist frequency
-
- * src/xferfcn.py (TransferFunction.evalfr, freqresp): : added
- warning if discrete time evaluation is above Nyquist frequency
-
- * tests/discrete_test.py (TestDiscrete.test_discrete_bode):
- rudimentary unit test for discrete bode plot
-
- * src/freqplot.py (bode_plot): fixed bug where input frequency list
- was being overwritten by default frequency range
-
- * src/xferfcn.py (TransferFunction.evalfr, freqresp): handles dtime
-
- * src/statesp.py (StateSpace.evalfr): handles dtime
-
- * src/lti.py (timebaseEqual): converted function to take systems as
- inputs instead of dt as input (also affected functions in statesp.py
- and xferfcn.py)
-
- * src/lti.py (timebase): timebase now returns dt instead of
- 'ctime'/'dtime'
-
-2012-10-13 Richard Murray <mu...@dn...>
-
- * src/lti.py (timebase): new function to return timebase. Doesn't
- yet handle the case where dt == None.
-
-2012-10-07 Richard Murray <mu...@al...>
-
- * src/matlab.py (c2d): MATLAB compatible function (just calls
- sample_system)
-
- * tests/discrete_test.py (TestDiscrete.test_sample_system): unit
- test for sampling
-
- * src/dtime.py (sample_system, _c2dmatched): new functions, based on
- contributiosn from Benjamin White
-
- * src/dtime.py: added back this file, this time with sampling routes
- to convert from continuous to discrete time
-
- * src/timeresp.py (forced_response): added discrete time simulator,
- using dlsim from scipy.signal
-
-2012-10-07 Richard Murray <mu...@al...>
-
- * doc/conf.py: fixed release number (0.6a instead of 0.6c)
-
- * src/__init__.py: moved timebase functions from dtime to lti
-
- * src/lti.py: moved isdtime, isctime, timebase, and timebaseEqual
- from dtime.py to lti.py. Moved initialization of dt to
- Lti.__init__().
-
- * src/statesp.py (StateSpace.__init__): Moved dt
- initialization to Lti object initialization
-
- * src/xferfcn.py (TransferFunction.__init__): Moved dt
- initialization to Lti object initialization
-
-2012-10-06 Richard Murray <mu...@al...>
-
- * tests/discrete_test.py: added additional tests for dt = True cases
-
- * src/statesp.py (StateSpace.__str__): show sampling time as
- 'unspecified' if dt is a boolean and equal to True
-
- * src/xferfcn.py (TransferFunction.__str__): don't print sampling
- time (dt) if dt = True (discrete time with unspecified time base)
-
- * src/dtime.py: added code to support dt = True for unspecified
- sampling time for a discrete time system
-
- * src/bdalg.py: much -> must in docstrings
-
-2012-10-06 Richard Murray <mu...@al...>
-
- * src/dtime.py: new module with functions for operating on discrete
- time systems
-
- * src/modelsimp.py: added NotImplementedError for discrete time
- * src/freqplot.py: added NotImplementedError for discrete time
-
- * src/bdalg.py: added documentation about timebases (discrete versus
- continuous)
-
- * src/statesp.py (_mimo2siso): include sampling time
-
- * src/xferfcn.py (TransferFunction.__str__): added optional var
- keyword to allow any symbol to be used
-
- * src/matlab.py (tf2ss): added code required to keep track of dt
-
- * src/xferfcn.py (TransferFunction.__str__): added additional string for
- discrete time system, plus use 'z' for polynomial variable
- (TransferFunction.__neg__): set sampling time for negation
- (TransferFunction.__add__): added test for same sampling time
- (TransferFunction.__mul__): added test for same sampling time
- (TransferFunction.__div__): added test for same sampling time
- (TransferFunction.feedback): added test for same sampling time
-
- * src/statesp.py (StateSpace.__str__): added additional string for
- discrete time system
- (StateSpace.__add__): added test for same sampling time
- (StateSpace.__mul__): added test for same sampling time
- (StateSpace.__rmul__): set sampling time for product
- (StateSpace.__neg__): set sampling time for negation
- (StateSpace.feedback): added test for same sampling time
-
- * tests/discrete_test.py (TestDiscrete): unit tests for discrete
- time systems
-
- * src/xferfcn.py (TransferFunction.__init__): added dt class
- variable for discrete time systems
-
- * src/statesp.py (StateSpace.__init__): added dt class variable for
- discrete time systems
-
----- control-0.5c released -----
-
-2012-10-03 Richard Murray <mu...@al...>
-
- * tests/matlab_test.py (TestMatlab.testSsdata): unit test
-
- * src/matlab.py (ssdata, tfdata): new functions to return state
- space and transfer function object data. For transfer functions,
- currenly requires SISO system
-
- * src/freqplot.py (bode_plot): Adding np.atleast_1d to the
- np.squeeze calculations makes it possible to use a single value
- frequency list (contributed by Benjamin White)
-
-2012-09-09 Richard Murray <mu...@al...>
-
- * tests/statefbk_test.py (TestStatefbk.testAcker): unit test
-
- * src/statefbk.py (acker): added acker() from Roberto Bucher.
-
-2012-08-29 Richard Murray <mu...@al...>
-
- * src/xferfcn.py (TransferFunction._common_den): fixed up code for
- case where poles have multiplicity > 1. Set end limits of check to
- avoid overruning the list + combine complex conjugate pole pairs
- from the outside in to prevent small errors from growing.
-
-2012-08-26 Richard Murray <mu...@al...>
-
- * tests/convert_test.py (TestConvert.testConvert): replaced previous
- test of transfer function coefficients with a frequency response
- test. This is necessary because various degenerate conditions will
- generate a situation where the transfer functions are of different
- forms but still equal. Eg 0/1 = 1e-17 s + 1e-16 / (s^2 + s + 1).
- Still getting errors, but looks like actual problem in conversion.
-
- * src/statesp.py (_mimo2siso): set default value for warn_conversion
- to False
-
- * tests/convert_test.py (TestConvert.testConvert): Added check to
- make sure that we don't create problems with uncontrollable or
- unobservable systems.
-
-2012-08-25 Richard Murray <mu...@al...>
-
- * src/xferfcn.py (TransferFunction._common_den): identified bug in
- the way that common denominators are computed; see comments in code
- regarding complex conjugate pairs.
-
- * src/statefbk.py (place): repalced nd.size(placed_eigs) with
- len(placed_eigs) to fix intermittent problems pointed out by Roberto
- Bucher in control-0.3c.
-
- * tests/rlocus_test.py (TestRootLocus.testRootLocus): added sort()
- to test to get rid of problems in which ordering was generating an
- error.
-
- * src/freqplot.py (nyquist_plot): added code from Kevin Davies to
- label frequency points in Nyquist plot
-
- * src/__init__.py: import non-conflicting MATLAB functions by default
-
- * src/freqplot.py (bode_plot, nyquist_plot): simplified code and
- removed unneeded options. To set color, linestyle, etc use keywords
- and pass to matplotlib.
-
-2012-08-24 Richard Murray <mu...@al...>
-
- * src/freqplot.py: added in plot enhancements from Kevin Davies
- (bode_plot): pass optional arguments and keywords to matplotlib
- (get_pow1000): new function for determinine engineering exponent
- (gen_prefix): new function to get SI prefix for power of 1000
-
- * src/freqplot.py (bode_plot): removed extraneous phase_deg calculation
-
-2012-01-07 Richard Murray <mu...@ma...>
-
- * doc/modules.rst: added new sections for analysis, synthesis,
- frequency plots and time response.
-
- * doc/index.rst (Contents): added modules and examples.
-
- * src/xferfcn.py (_convertToTransferFunction): added check for
- slycot import error. If not present, use signal.lti to perform the
- conversion. Only works for SISO.
-
- * src/statesp.py (_convertToStateSpace): added check for slycot
- import error, to allow basic functionality without the presence of
- slycot (contributed by Ryan Krauss).
-
- * tests/slycot_convert_test.py (TestSlycot.testTF): moved slycot
- import into test function, so that test script still works even if
- time response is not present.
-
-2011-08-09 Richard Murray <mu...@ma...>
-
- * src/timeresp.py: fixed doc reference to time-series-convention
-
-2011-08-08 Richard Murray <mu...@ma...>
-
- * doc/index.rst, doc/modules.rst: Moved MATLAB section into
- python-control modules file
-
-2011-08-07 Richard Murray <mu...@ma...>
-
- * doc/conf.py: added autosummary extension
-
- * doc/timeresp.rst: New file containing listing of functions for
- time responses (step, initial, etc)
-
- * doc/freqplot.rst: New file listing functions for frequency
- plots (bode, nyquist, etc)
-
- * doc/modules.rst: New file that contains a listing of the major
- modules in the toolbox
-
- * doc/index.rst (Contents): Rearranged contents to put modules
- documentation in a separate section. Also added examples section
- (not quite ready yet).
-
-2011-08-07 Richard Murray <mu...@ma...>
-
- * examples/rss-balred.py: reordered outputs from call to matlab.step
- (missed this the first time around)
-
- * doc/matlab_strings.rst: Matlab -> MATLAB (proper spelling)
-
- * setup.py, doc/conf.py: updated version to 0.5b
-
-2011-08-07 Richard Murray <mu...@ma...>
-
- * doc/conf.py: Updated version numbers to 0.5a, regenerated
- documentation and reposted on web (note that 0.5a tag and source
- distribution have this wrong)
-
----- control-0.5a released -----
-
-2011-08-07 Richard Murray <mu...@ma...>
-
- * setup.py: updated version number; next release will be 0.5a since
- the changes in function names and argument/return value order (for
- time reponses) require small updates in code
-
- * 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
- signatures
-
- * examples/phaseplots.py: updated calls to PhasePlot to use new
- argument structure
-
- * src/phaseplot.py (PhasePlot): Updated call signature to be
- more pythonic and fixed up documentation.
-
- * examples/genswitch.py (genswitch): added new example showing
- PhasePlot functionality
-
- * src/phaseplot.py (boxgrid): added function to compute initial
- conditions around the edges of a box
-
-2011-07-24 Richard Murray <mu...@ma...>
-
- * tests/margin_test.py: added simple unit tests for margin functions
- (initial versions just call functions; some comparisons missing)
-
- * examples/README: added missing README file
-
- * examples/phaseplots.py: FBS examples for phaseplot
-
- * tests/phaseplot_test.py: unit tests for phaseplot
-
- * src/phaseplot.py: initial cut at phase portrait function, built
- from amphaseplot (Feeback Systems [FBS], Astrom and Murray, 2008)
-
-2011-07-15 Richard Murray <mu...@ma...>
-
- * tests/matlab_test.py (TestMatlab): added unittest for margin()
- commands (calling format only)
-
- * src/statesp.py (StateSpace): updated comments
-
- * tests/margin_test.py: set up unit tests for StabilityMargins() and
- PhaseCrossoverFrequencies()
-
- * src/__init__.py: added margins.py to __init__
-
-2011-07-14 Richard Murray <mu...@ma...>
-
- * src/margins.py (GainPhaseMargin): moved freqplot.MarginPlot to
- margin.StabilityMargins (MarginPlot didn't actually plot anything)
-
- * src/margins.py (PhaseCrossoverFrequencies): added new function to
- compute frequencies that we cross real axis. Contributed by Steffen
- Waldherr <wal...@is...>
-
-2011-07-11 Richard Murray <mu...@ma...>
-
- * 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 <mu...@ma...>
-
- * src/rlocus.py: modified scipy import to only import those
- functions that we actually use. This fixes a problem pointed out by
- Carsten Knoll (TU Dresden) where control.place could be overwritten
- by numpy.place (because of an "from scipy import *" in rlocus.py
-
- * doc/intro.rst: Added link to scipy web page talking about the
- differences between numpy and MATLAB (contributed by Shuo Han).
-
-2011-06-25 Richard Murray <mu...@ma...>
-
- * src/xferfcn.py (TransferFunction._common_den): changed tolerance
- for detecting complex valued poles to a user-settable parameter,
- with default value 1e-8. This was an attempt to fix errors in the
- convert_test.py unittest script (conversion routine was
- misclassifying some poles as imaginary when they weren't).
-
- * src/xferfcn.py (_convertToTransferFunction): converted arguments
- to tb04ad to numpy arrays; fixes a unit test error in convert_test.py.
-
- * src/statefbk.py (gram): convert system matrix passed to sb03md to
- numpy array; this fixes a unit test error in modelsimp_test.py.
-
- * src/matlab.py (impulse): got rid of X0 argument for impulse
- response (not implemented in MATLAB).
-
- * doc/intro.rst: added some quick start information
-
- * src/matlab.py: added documentation for step, impulse, initial, lsim
-
- * src/timeresp.py: fixed some MATLAB specific function names in
- function doc strings
-
-2011-06-22 Richard Murray <mu...@ma...>
-
- * doc/intro.rst: fixed some small types
-
- * doc/control.tex: removed (no longer needed)
-
-2011-06-22 Richard Murray <mu...@ma...>
-
- * doc/intro.rst: Added a slightly more general introduction, with a
- pointer to the python-control wiki (on sf.net)
-
- * doc/Makefile: Changed path to sphinx-build to assume it is in the
- users path (as opposed to an explicit path)
-
- * doc/conf.py: Added release information into documentation file
-
-2011-06-21 Richard Murray <mu...@ma...>
-
- * src/statesp.py (_mimo2siso): Moved function from matlab.py.
-
- * src/timeresp.py: added file documentation + split out and updated
- copyright info. Small corrections to documentation.
- (InitialResponse): Added missing transpose argument in call to
- ForcedResponse
-
- * src/matlab.py: minor changes to documentation to avoid line wraps
- on standard (80 col) terminal window
-
- * src/matlab.py: removed time-series convention documentation from
- matlab.py since current MATLAB version uses standard conventions.
- This documentation is currently in timeresp.py.
-
- * src/*, doc/*: added Eike Welk's documentation modifications
-
-2011-06-18 Richard Murray <mu...@ma...>
-
- * src/timeresp.py, src/matlab.py: moved documentation about time
- series convention from matlab.py to timeresp.py
-
- * examples/pvtol-nested-ss.py: Fixed bug in call to step (wrong
- second argument)
-
- * tests/matlab_test.py: Updated tests to use MATLAB time response
- conventions.
-
- * tests/timeresp_test.py: Created unit tests for timeresp module,
- based on matlab_test.py
-
-2011-06-17 Richard Murray <mu...@ma...>
-
- * src/timeresp.py (ForcedResponse): swapped order of input and time
- arguments for linear response, following Eike's comment "T must
- always be supplied by the user, but U has a useful default value of
- 0."
-
- * src/matlab.py: moved code for lsim, initial, step, and impulse to
- timeresp.py and put in new routes that call timeresp.* versions of
- the functions with transposeData set to True.
-
- * src/timesim.py (_check_convert_array): added transpose argument
- that will transpose input data before processing it.
-
- * src/timesim.py: renamed lsim, initial, step, and impulse functions
- to ForcedResponse, InitialResponse, StepResponse and
- ImpulseResponse. These versions use Eike Welk's input ordering.
-
- * examples/pvtol-nested.py: calls to step() had screwed up inputs.
- Fixed.
-
-2011-06-17 Richard Murray <mu...@ma...>
-
- * src/matlab.py: added MIMO extensions from Eike Welk on 12 Jun
- 2011: adds MIMO capabilities for ``lsim``, ``step``, ``impulse``,
- ``initial``
-
- * src/matlab.py: added changes from Eike Welk on 12 May 2011:
-
- - An implementation of the four simulation functions ``lsim``,
- ``step``, ``initial``, and ``impulse`` of the module ``matlab``.
-
- - Adds a function ``dcgain`` to the ``matlab`` module, which
- computes the gain of a linear system for steady state and
- constant input.
-
- - The patch contains a bug fix for class ``StateSpace``, which
- enables it to work properly together with Scipy's ``signal``
- module.
-
- - The simulation functions' return values are changed (back?) to
- arrays, because matrices confuse Matplotlib.
-
- - New times series convention: see _time-series-convention section
- of matlab documentation
-
- - SISO simulation data are squeezed on output. To turn this off,
- pass the option squeeze=False
-
----- control-0.4c released -----
-
-2011-06-17 Richard Murray <mu...@dh...>
-
- * examples/tfvis.py: Added tfvis, Simple GUI application for
- visualizing how the poles/zeros of the transfer function effects the
- bode, nyquist and step response of a SISO system. Contributed by
- Vanessa Romero Segovia, Ola Johnsson, Jerker Nordh.
-
-2011-06-16 Richard Murray <mu...@ma...>
-
- * src/matlab.py: import mateqn functions
-
- * src/__init__.py: import mateqn functions
-
- * tests/test_all.py: added unit tests for matrix solvers, converting
- to standard format along the way. Seems to work even if slycot
- routines are not in place, but I'm not sure if this is for the right
- reasons...
-
- * src/mateqn.py: added matrix solvers from LTH (Ola Johnsson, Jerker
- Nordh, Bjorn Olofsson, Vanessa Romero). Moved slycot function
- checks to the portion of the code where they are used, so that
- missing slycot doesn't mess up initialization if proper version of
- slycot is not available.
-
-2011-04-02 Richard Murray <mu...@ma...>
-
- * src/xferfcn.py (TransferFunction.__add__): fixed bug when adding a
- transfer function to state space system; _convertToTransferFunction
- was being called with input/output keywords. Picked up in unit test.
-
- * tests/matlab_test.py: added calls to all of the functions that are
- currently implemented in the library, to make sure there are no
- hidden issues. These calls do *not* test functionality, they just
- make sure that MATLAB compatibility functions accept the right types
- of arguments.
-
- * examples/secord-matlab.py: added root locus plot to list of
- figures that are produced
-
- * src/__init__.py: added rlocus to list of modules that are imported
- by control module
-
- * src/exception.py (ControlMIMONotImplemented): added exception for
- functions that are not yet implemented for MIMO systems
-
- * src/xferfcn.py (TransferFunction.__init__): convert integer
- numerator and denominator objects to floats to eliminate errors when
- creating common denominator (also used on pole command). This fixes
- and error were tf([1], [1, 2, 1]).pole() would generate an error.
-
- * src/freqplot.py (bode): Tweaked documentation string to remove 'h'
- from mag and phase return arguments
-
- * src/rlocus.py (RootLocus): removed commands that set figure number
- inside of RootLocus command, for consistency with other frequency
- plot routines. Added Plot=True argument and updated documentation.
-
- * src/matlab.py: added rlocus() command (calls RootLocus)
-
- * MANIFEST.in: Added MANIFEST.in file to include examples and tests
- in source distribution
-
- * README: Updated to include information on how to run unit tests.
-
- * setup.py: updated version number to 0.4c
-
----- control-0.4b released -----
-
-2011-04-02 Richard Murray <mu...@ma...>
-
- * 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.
-
- * src/freqplot.py: updated comments at top of file to reflect
- nichols chart move
-
- * src/nichols.py: transferred over changes from v0.3d
-
- * src/matlab.py (ngrid): moved import to function
-
-2011-03-31 Richard Murray <mu...@ma...>
-
- * examples/pvtol-nested.py: updated stability margin plot to use
- proper calling format for bode().
-
- * src/statesp.py (_convertToStateSpace): moved slycot import
- to the location where it is actually needed (allows running some
- commands without slycot installed)
-
- * src/xferfcn.py (_convertToTransferFunction): moved slycot import
- to the location where it is actually needed (allows running some
- commands without slycot installed)
-
- * src/nichols.py: new file for Nichols plot routines; move
- nichols(), nichols_grid(), closed_loop_contours(), m_circles(),
- n_circles()
-
- * src/__init__.py, src/freqresp.py, src/matlab.py: updated to match
- new file structure for Nichols charts
-
- * src/nichols.py (nichols): updated processing of freqresp to take
- into account the fact that return arguments are now a matrix of
- results (even for a SISO system)
-
-2011-03-30 Richard Murray <mu...@ma...>
-
- * tests/: added top level subdirectory, to be used for unit tests.
- The idea in putting the code here is that you can do 'setup.py test'
- during installation to make sure everything is working correctly.
- The test code would normally *not* be callable from the installed
- module.
-
- * tests/*_test.py: moved from src/Test*.py
-
- * setup.py: updated version number.
-
-2011-02-13 Richard Murray <mu...@su...>
-
- * src/*.py: added svn:keywords Id properly
-
- * src/matlab.py (ngrid): added ngrid() from v0.3d
-
- * src/freqplot.py (nichols_grid, closed_loop_contours, m_circles,
- n_circles): copied over changes from Allan McInnes in v0.3d; ngrid()
- functiality + split out some of the nichols chart code into separate
- functions
-
-2011-02-12 Richard Murray <mu...@su...>
-
- * setup.py: updated version number to 0.4a
-
-2010-11-05 Richard Murray <mu...@su...>
-
- * external/yottalab.py: New file containing Roberto Bucher's control
- library functions. OK to start pulling these into the main library,
- with attribution, but note that they use modifications of the
- default library => some rewrites will be needed.
-
-2010-09-11 Richard Murray <mu...@su...>
-
- * src/matlab.py (step): Added local step response function that uses
- lsim2() instead of signal.step (which can't handle integrators).
- This function may not be needed when new scipy step2() function is
- available.
- (impulse): Added local impulse response function that sets the
- initial condition based on the input matrix and then uses the
- lsim2() function to compute the response.
-
- * examples/test-response.py: Added test script for making sure that
- time repsonse functions are working as desired
-
- * src/matlab.py (lsim): Added local version of lsim that calls
- signal.lsim2 (actual ODE integrator)
-
-2010-09-06 Richard Murray <mu...@su...>
-
- * src/statefbk.py (ctrb): new function for testing controllability
- * src/statefbk.py (obsv): new function for testing observabiilty
-
-2010-09-02 Richard Murray <mu...@su...>
-
- * src/statefbk.py (place): Use np.size() instead of len() for
- finding length of placed_eigs for better compatability with
- different python versions [courtesy of Roberto Bucher]
-
- * src/delay.py (pade): New file for delay-based computations +
- initial implementation of pade() [courtesy Sawyer Fuller]
-
-2010-06-17 Richard Murray <mu...@su...>
-
- * src/rlocus.py: changed num, den to nump, denp for clarity
- * src/rlocus.py: new file with Ryan Krauss's root locus code
-
-2010-06-06 Richard Murray <mu...@su...>
-
- * examples/pvtol-lqr.py: Added example to test out LQR routines
-
- * src/matlab.py (bode): created a wrapper that allows MATLAB style
- arguments for bode (eg, bode(sys1, sys2))
-
- * src/ctrlutil.py (issys): added new function to check if an object
- is a system (state space or transfer function). Will generalize
- this latter to look for other compatible classes.
-
- * src/freqplot.py (bode): Compute frequency range of bode plot based
- on poles and zeros
- (bode): Allow bode plot to be passed a list (or tuple) as the first
- argument, in which case multiple bode plots are generated
-
- * src/statesp.py (StateSpace.zeros): new function to compute zeros
- for a state space system
- (StateSpace): defined new functions to compute poles of a state
- space system
-
- * src/xferfcn.py (TransferFunction): defined new functions to
- compute poles and zeros of a transfer function.
-
-2010-05-31 Richard Murray <mu...@su...>
-
- * src/exception.py (ControlNotImplemented): added new exception, to
- be used for functions that are not yet implemented
-
- * src/statefbk.py (lqr): added lqr function (using slycot). Still
- needs to be verified to make sure calculations are correct.
-
- * ChangeLog: converted to standard GNU formation (old style below)
- * setup.py: updated package number to v0.3, changed URL to
- sourceforge wiki
-
-------------------
-31 May 2010, RMM: added place() function using slycot
- * New module: statefbk - functions to design state feedback controllers
- * Uses Enrico Avventi slycot wrappers (http://github.com/avventi/Slycot)
- * Also added some exception types: ControlSlycot and ControlDimension
- * Added new example to test slycot interface (directly)
-
-29 May 2010, RMM: updated function documentation
- * Added __doc__ strings for all current functions
- * Added __doc__ string to matlab module, listing control toolbox functions
-
-22 May 2010, RMM: tweaked comments and released v0.3a
- * Changed copyright information on modified files to 2010
- * Updated "to do" comments to use "#! TODO:" as prefix
-
-11 Feb 2010, GR: implemented and tested state space feedback
-15 Jan 2010, GR: added new example, improved bode
-
-4 Jan 2010, GR: updated bode plots
- * made bode plot more like matlab
- * added options for plotting in dB, Hz
-
-27 Dec 2009, GR: important bug fix: feedback TFs were being divided by two
-
-10 Oct 09, RMM: reset matplotlib import in secord-matlab
- * Using 'from matplotlib import *' causes error with figures
- * On my other computer, got error when trying to import 'matplotlib.pyplot'
- * Need to sort out versions and figure out proper import structure
-
-13 Sep 09, RMM: added basic state space functionality
- * Updated StateSpace routines to allow BD algebra with constants
- * Updated pvtol-nested example to try to use state space representation
- (not completely working yet)
-
-12 Sep 09, RMM: code restructuring for transfer functions
- * Implemented feedback() method in bldalg; partially working
- for mixture of TF, SS and numbers (not thoroughly tested yet)
- * New feedback method for TransferFunctions
- * Updated gangof4 to use new feedback function
-
-9 Sep 09, RMM: updated pzmap to generate a plot (turn off with Plot=False)
-
-8 Sep 09, RMM: rewrite of xferfcn to handle type casting better
- * Appropriate functions now call convertToTransferFunction
- * Restricted transfer function to SISO only
-
-7 Sep 09, RMM: additional fixes
- * Implemented block diagram operations for SISO transfer functions
- * Modified frequency response functions for transfer functions
- * Added rudimentary pole/zero computations
- * Added comments on things that need to be fixed (search for !)
-
-5 Sep 09, RMM: updates to get standard examples working
- * Copied and converted pvtol_nested.py from AM08, Chapter 11
- * Updated freqresp to use poly1d for computing values
- * Added outputs to bode plot - return mag and phase subplot handles
-
-2009-05-24 Richard Murray <mu...@ko...>
- * ./ Initial creation of package files and ChangeLog
- * Using simpler text format since emacs python mode doesn't support
- ChangeLog entries anyway
-
-
-Local Variables:
-mode:text
-End:
Copied: tags/control-0.6d/ChangeLog (from rev 296, trunk/ChangeLog)
===================================================================
--- tags/control-0.6d/ChangeLog (rev 0)
+++ tags/control-0.6d/ChangeLog 2014-03-22 19:42:52 UTC (rev 297)
@@ -0,0 +1,1098 @@
+2014-03-22 Richard Murray <mu...@si...>
+
+ * src/matlab.py (ss): allow five arguments to create a discrete time
+ system. From Roberto Bucher, 12 Jan 2014
+
+2014-03-22 Richard Murray <mu...@si...>
+
+ * src/bdalg.py (feedback): allow FRD for feedback()
+
+2014-03-22 Richard Murray <mu...@si...>
+
+ * tests/discrete_test.py (TestDiscrete.test_sample_system): added
+ conversions using tustin and zoh to catch 'dt' bug #5
+
+ * src/dtime.py (sample_system): Changed 'dt' to 'Ts' to fix bug #4
+
+ * tests/frd_test.py (TestFRD.testbdalg): added unit tests for bdalg
+ functions operating on FRD data
+
+ * src/bdalg.py (series, parallel, negate, feedback): updated
+ documentation to note that FRD ovjects work.
+ (feedback): updated conversions to allow for FRD
+
+2013-07-15 Richard Murray <mu...@al...>
+
+ * src/frdata.py, src/xferfcn.py: updated to use __truediv__ and
+ __rtruediv__ for compatibility with python3
+
+2013-07-14 Richard Murray <mu...@al...>
+
+ * src/dtime.py (sample_system): added check to make sure
+ cont2discrete is available in scipy.signal
+ (sample_system): added docstring
+
+2013-06-24 Richard Murray <mu...@al...>
+
+ * tests/minreal_test.py (TestMinreal.testMinrealBrute),
+ src/xferfcn.py (_convertToTransferFunction), src/statesp.py
+ (StateSpace.__rmul__), src/margins.py (stability_margins): changed
+ exception syntax to be python3 compatibile (works for python2.6+)
+
+2013-06-10 Richard Murray <mu...@al...>
+
+ * src/xferfcn.py (TransferFunction.horner): small fix to docstring
+
+ * src/freqplot.py (nyquist_plot): small fix to docstring
+
+2013-06-09 Richard Murray <mu...@al...>
+
+ * tests/bdalg_test.py (TestFeedback.testScalarSS)
+ (TestFeedback.testScalarTF): added simple test of default argument
+ to feedback() for state space and transfer function systems
+
+ * tests/frd_test.py (TestFRD.testFeedback): added test of default
+ argument to feedback() for FRD type
+
+ * src/bdalg.py (feedback):
+ * src/frdata.py (FRD.feedback):
+ * src/statesp.py (StateSpace.feedback):
+ patched in default value of 1 for other system in feedback().
+ Contributed by Ryan Krauss <rk...@si...>
+
+ * tests/xferfcn_test.py (TestXferFcn.testEvalFrMIMO)
+ (TestXferFcn.testEvalFrSISO): added tests of __call__ version of
+ evalfr.
+
+ * src/xferfcn.py (TransferFunction.__call__): patched in new
+ __call__ functionality from Ryan Krauss <rk...@si...>, but
+ modified to use evalfr (works with MIMO). SISO transfer functions
+ return a single complex number, MIMO transfer functions return a
+ matrix of complex numbers.
+
+2013-05-23 Rene van Paassen <ren...@gm...>
+
+ * src/margin.py: re-vamped stability_margins function. Now
+ uses analytical method for TF and state-space, works on FRD
+ objects too, and can optionally return all margins found for
+ the analytical method.
+
+ * src/xferfcn.py and src/frdata.py: Now return array result
+ for fresp when called with an iterable frequency vector
+
+ * src/xferfcn.py and src/statesp.py: added minreal functions
+
+ * src/bdalg.py: implemented append and connect functions (old
+ version, with indexes, not with names)
+
+ * src/matlab.py: added connect, append, minreal
+
+ * src/xferfcn.py and src/statesp.py: added/corrected
+ __rmul__. In most cases a gain matrix (np.matrix) may now be
+ used in combination with ss or tf systems.
+
+2012-11-10 Richard Murray <mu...@al...>
+
+ * src/canonical.py: new module implementing conversions to selected
+ canonical forms: canonical_form(), reachable_form() implemented
+
+ * src/lti.py (issiso): new function to quickly check if a system is
+ single input, single output or not
+
+2012-11-04 Richard Murray <mu...@al...>
+
+ * src/__init__.py: added action item to separate out matlab module
+ functionality (eventually)
+
+ * src/matlab.py: added code for setting up MATLAB defaults if matlab
+ submodule is imported instead of main (control) module. See
+ comments in __init.py__ for what needs to be done to implement.
+
+ * src/freqplot.py (bode_plot): moved default values of plotting
+ options to config module to allow easier use override
+
+ * src/config.py: new module to help set package defaults
+
+ * src/xferfcn.py (_convertToTransferFunction): removed extraneous
+ print statements if slycot is not installed
+
+ * src/statesp.py (StateSpace.__str__): fixed error in printing
+ timebase when dt is None (python 3)
+
+---- control-0.6c released -----
+
+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
+
+ * tests/modelsimp_test.py, tests/slycot_convert_test.py,
+ tests/mateqn_test.py, tests/statefbk_test.py: updated test suites to
+ skip specific tests that require slycot if it is not installed
+
+ * src/exception.py (slycot_check): added a function to check if
+ slycot is installed
+
+ * README: updated readme to include information about running
+ nosetests, which works in python3 (unlike the test_all.py script)
+
+ * tests/test_control_matlab.py, tests/test_all.py: set to executable
+ so that nosetests does not run this file (it already runs all unit
+ tests in this directory). Add comments at top talking about tests.
+
+ * tests/discrete_test.py (TestDiscrete.test_discrete_bode):
+ explicitly create a list from map() output for python 3
+
+ * src/frdata.py: removed long data type from comparisons for
+ constant systems (not supported in python3)
+
+ * src/xferfcn.py (TransferFunction.freqresp): force frequencies to
+ be a list (map returns iterator in python3)
+
+ * src/lti.py (isdtime, isctime): updated timebase checking since
+ python3 won't allow dt to be compared to integer
+
+ * src/__init__.py: updated frdata import to python3 compatible form
+
+ * src/statesp.py (_convertToStateSpace): fixed exception syntax to
+ be python3 compatible
+
+ * examples/pvtol-nested.py: converted print statements to be python3
+ compatible
+
+ * doc/class_strings.rst: added FRD class to list of classes that
+ show up in the user documentation
+
+ * examples/rss-balred.py: fixed error in output argument order for
+ call to matlab.impulse
+
+ * ../README: updated readme file as a test of post-commit hook
+
+2012-11-02 Richard Murray <mu...@al...>
+
+ * doc/conf.py, setup.py: updated version number to 0.6c
+
+ * tests/frd_test.py: unit tests for FRD data type
+ (suite): added suite() function to allow test_all.py to work
+
+ * tests/xferfcn_test.py (TestXferFcn.testMinreal): new unit test
+
+ * src/xferfcn.py (TransferFunction.minreal): new function for
+ removing cancelling pole/zero pairs, contributed by M.M. (Rene) van
+ Paassen
+
+ * src/statesp.py (_convertToStateSpace): new functionality for
+ converting a matrix to a constant system
+
+ * src/modelsimp.py (minreal): removed extraneous code (moved to
+ xferfcn.py)
+
+ * src/frdata.py: new file implementing FRD data type, contributed by
+ M.M. (Rene) van Paassen
+
+ * src/xferfcn.py: resolved conflict between versions
+
+---- control-0.6b released -----
+
+2012-11-02 Richard Murray <mu...@al...>
+
+ * src/xferfcn.py, src/statesp.py, src/lti.py, src/bdalg.py:
+ constants must now be of type 'int' rather than 'long' (for python 3
+ compatibility)
+
+ * tests/statefbk_test.py, tests/slycot_convert_test.py,
+ tests/convert_test.py: added import __future__ calls for python 3
+ compatibility; updated print calls
+
+ * src/modelsimp.py, src/xferfcn.py, src/delay.py, src/phaseplot.py,
+ src/margins.py, src/statesp.py, src/mateqn.py: added import
+ __future__ calls for python 3 compatibility
+
+2012-11-02 Richard Murray <mu...@al...>
+
+ * src/xferfcn.py, src/timeresp.py, src/statesp.py, src/statefbk.py,
+ src/robust.py, src/rlocus.py, src/pzmap.py, src/phaseplot.py,
+ src/nichols.py, src/modelsimp.py, src/matlab.py, src/margins.py,
+ src/freqplot.py, src/ctrlutil.py, src/bdalg.py: globally referenced
+ import commands for python 3.x
+
+ * src/__init__.py: changed import commands to be global instead of
+ local ('from control.bdalg ...' instead of 'from bdalg ...')
+
+2012-10-31 Richard Murray <mu...@al...>
+
+ * src/xferfcn.py (TransferFunction._common_den): converted print
+ statements to python 3 compatible form and included
+ __future__.print_function
+
+ * src/phaseplot.py: converted print statements to python 3
+ compatible form and included __future__.print_function
+
+ * src/mateqn.py (lyap, dlyap): converted except T, E to except T(E)
+
+ * src/margins.py: converted print statements to python 3
+ compatible form and included __future__.print_function
+
+ * src/xferfcn.py (TransferFunction.__add__, __mul__, __div__,
+ feedback): converted raise T, E to raise T(E) for python 3
+
+ * src/xferfcn.py (TransferFunction.returnScipySignalLti): fixed
+ raise(T(E)) bug
+
+ * src/statesp.py (_rss_generate): fixed raise(T(E)) bug
+
+ * src/statefbk.py (acker, gram): converted raise T, E to raise T(E) for
+ python 3
+
+ * src/modelsimp.py (hsvd, modred, balred): fixed raise(T(E)) bug and
+ converted raise T, E to raise T(E) for python 3
+
+ * src/margins.py (stability_margins): fixed raise(T(E)) bug
+
+ * src/statesp.py: converted raise T, E to raise T(E) for python 3
+
+ * tests/test_all.py: converted print statements to python 3
+ compatible form and included __future__.print_function
+
+ * tests/statefbk_test.py (TestStatefbk.setUp): turned off debugging
+ flag (accidently left on)
+
+---- control-0.6a released -----
+
+2012-10-27 Richard Murray <mu...@al...>
+
+ * src/statefbk.py (acker): small updates to docstring
+
+ * src/bdalg.py (feedback): fixed up docstring formatting (for sphinx)
+
+ * tests/statefbk_test.py (TestStatefbk.testAcker): skip
+ ill-conditioned systems and loosened tolerances on acker() testing
+
+ * src/lti.py (timebaseEqual): replaced "type(sys.dt) == NoneType"
+ with "sys.dt is None", based on feedback from Luke Peterson that
+ NoneType is deprecated in python 3.
+
+2012-10-22 Richard Murray <mu...@al...>
+
+ * examples/genswitch.py (genswitch): updated calls to legend, fixing
+ problem pointed out by Scott Livingston
+
+2012-10-19 Richard Murray <mu...@dn...>
+
+ * src/matlab.py (rlocus): reverted change in default argument
+ processing for klist. This has some negative consequences:
+ http://www.deadlybloodyserious.com/2008/05/default-argument-blunders/
+
+2012-10-18 Richard Murray <mu...@dn...>
+
+ * src/freqplot.py (gangof4_plot, nyquist_plot): discrete time
+ systems supported (through fresp)
+
+ * src/statesp.py (StateSpace.evalfr): added warning if discrete time
+ evaluation is above Nyquist frequency
+
+ * src/xferfcn.py (TransferFunction.evalfr, freqresp): : added
+ warning if discrete time evaluation is above Nyquist frequency
+
+ * tests/discrete_test.py (TestDiscrete.test_discrete_bode):
+ rudimentary unit test for discrete bode plot
+
+ * src/freqplot.py (bode_plot): fixed bug where input frequency list
+ was being overwritten by default frequency range
+
+ * src/xferfcn.py (TransferFunction.evalfr, freqresp): handles dtime
+
+ * src/statesp.py (StateSpace.evalfr): handles dtime
+
+ * src/lti.py (timebaseEqual): converted function to take systems as
+ inputs instead of dt as input (also affected functions in statesp.py
+ and xferfcn.py)
+
+ * src/lti.py (timebase): timebase now returns dt instead of
+ 'ctime'/'dtime'
+
+2012-10-13 Richard Murray <mu...@dn...>
+
+ * src/lti.py (timebase): new function to return timebase. Doesn't
+ yet handle the case where dt == None.
+
+2012-10-07 Richard Murray <mu...@al...>
+
+ * src/matlab.py (c2d): MATLAB compatible function (just calls
+ sample_system)
+
+ * tests/discrete_test.py (TestDiscrete.test_sample_system): unit
+ test for sampling
+
+ * src/dtime.py (sample_system, _c2dmatched): new functions, based on
+ contributiosn from Benjamin White
+
+ * src/dtime.py: added back this file, this time with sampling routes
+ to convert from continuous to discrete time
+
+ * src/timeresp.py (forced_response): added discrete time simulator,
+ using dlsim from scipy.signal
+
+2012-10-07 Richard Murray <mu...@al...>
+
+ * doc/conf.py: fixed release number (0.6a instead of 0.6c)
+
+ * src/__init__.py: moved timebase functions from dtime to lti
+
+ * src/lti.py: moved isdtime, isctime, timebase, and timebaseEqual
+ from dtime.py to lti.py. Moved initialization of dt to
+ Lti.__init__().
+
+ * src/statesp.py (StateSpace.__init__): Moved dt
+ initialization to Lti object initialization
+
+ * src/xferfcn.py (TransferFunction.__init__): Moved dt
+ initialization to Lti object initialization
+
+2012-10-06 Richard Murray <mu...@al...>
+
+ * tests/discrete_test.py: added additional tests for dt = True cases
+
+ * src/statesp.py (StateSpace.__str__): show sampling time as
+ 'unspecified' if dt is a boolean and equal to True
+
+ * src/xferfcn.py (TransferFunction.__str__): don't print sampling
+ time (dt) if dt = True (discrete time with unspecified time base)
+
+ * src/dtime.py: added code to support dt = True for unspecified
+ sampling time for a discrete time system
+
+ * src/bdalg.py: much -> must in docstrings
+
+2012-10-06 Richard Murray <mu...@al...>
+
+ * src/dtime.py: new module with functions for operating on discrete
+ time systems
+
+ * src/modelsimp.py: added NotImplementedError for discrete time
+ * src/freqplot.py: added NotImplementedError for discrete time
+
+ * src/bdalg.py: added documentation about timebases (discrete versus
+ continuous)
+
+ * src/statesp.py (_mimo2siso): include sampling time
+
+ * src/xferfcn.py (TransferFunction.__str__): added optional var
+ keyword to allow any symbol to be used
+
+ * src/matlab.py (tf2ss): added code required to keep track of dt
+
+ * src/xferfcn.py (TransferFunction.__str__): added additional string for
+ discrete time system, plus use 'z' for polynomial variable
+ (TransferFunction.__neg__): set sampling time for negation
+ (TransferFunction.__add__): added test for same sampling time
+ (TransferFunction.__mul__): added test for same sampling time
+ (TransferFunction.__div__): added test for same sampling time
+ (TransferFunction.feedback): added test for same sampling time
+
+ * src/statesp.py (StateSpace.__str__): added additional string for
+ discrete time system
+ (StateSpace.__add__): added test for same sampling time
+ (StateSpace.__mul__): added test for same sampling time
+ (StateSpace.__rmul__): set sampling time for product
+ (StateSpace.__neg__): set sampling time for negation
+ (StateSpace.feedback): added test for same sampling time
+
+ * tests/discrete_test.py (TestDiscrete): unit tests for discrete
+ time systems
+
+ * src/xferfcn.py (TransferFunction.__init__): added dt class
+ variable for discrete time systems
+
+ * src/statesp.py (StateSpace.__init__): added dt class variable for
+ discrete time systems
+
+---- control-0.5c released -----
+
+2012-10-03 Richard Murray <mu...@al...>
+
+ * tests/matlab_test.py (TestMatlab.testSsdata): unit test
+
+ * src/matlab.py (ssdata, tfdata): new functions to return state
+ space and transfer function object data. For transfer functions,
+ currenly requires SISO system
+
+ * src/freqplot.py (bode_plot): Adding np.atleast_1d to the
+ np.squeeze calculations makes it possible to use a single value
+ frequency list (contributed by Benjamin White)
+
+2012-09-09 Richard Murray <mu...@al...>
+
+ * tests/statefbk_test.py (TestStatefbk.testAcker): unit test
+
+ * src/statefbk.py (acker): added acker() from Roberto Bucher.
+
+2012-08-29 Richard Murray <mu...@al...>
+
+ * src/xferfcn.py (TransferFunction._common_den): fixed up code for
+ case where poles have multiplicity > 1. Set end limits of check to
+ avoid overruning the list + combine complex conjugate pole pairs
+ from the outside in to prevent small errors from growing.
+
+2012-08-26 Richard Murray <mu...@al...>
+
+ * tests/convert_test.py (TestConvert.testConvert): replaced previous
+ test of transfer function coefficients with a frequency response
+ test. This is necessary because various degenerate conditions will
+ generate a situation where the transfer functions are of different
+ forms but still equal. Eg 0/1 = 1e-17 s + 1e-16 / (s^2 + s + 1).
+ Still getting errors, but looks like actual problem in conversion.
+
+ * src/statesp.py (_mimo2siso): set default value for warn_conversion
+ to False
+
+ * tests/convert_test.py (TestConvert.testConvert): Added check to
+ make sure that we don't create problems with uncontrollable or
+ unobservable systems.
+
+2012-08-25 Richard Murray <mu...@al...>
+
+ * src/xferfcn.py (TransferFunction._common_den): identified bug in
+ the way that common denominators are computed; see comments in code
+ regarding complex conjugate pairs.
+
+ * src/statefbk.py (place): repalced nd.size(placed_eigs) with
+ len(placed_eigs) to fix intermittent problems pointed out by Roberto
+ Bucher in control-0.3c.
+
+ * tests/rlocus_test.py (TestRootLocus.testRootLocus): added sort()
+ to test to get rid of problems in which ordering was generating an
+ error.
+
+ * src/freqplot.py (nyquist_plot): added code from Kevin Davies to
+ label frequency points in Nyquist plot
+
+ * src/__init__.py: import non-conflicting MATLAB functions by default
+
+ * src/freqplot.py (bode_plot, nyquist_plot): simplified code and
+ removed unneeded options. To set color, linestyle, etc use keywords
+ and pass to matplotlib.
+
+2012-08-24 Richard Murray <mu...@al...>
+
+ * src/freqplot.py: added in plot enhancements from Kevin Davies
+ (bode_plot): ...
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