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Re: [python-control-discuss] SF.net python-control commit:[297] trunk/doc
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From: Roberto B. <rob...@su...> - 2014-03-24 09:54:31
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Thanks Richard for the great job!!! In the past weeks I did a presentation of your toolbox to the control teachers of the Swiss universities: for this presentation I used your toolbox and yottalab to design the controllers for different plants in my lab: in particular I controlled a DC motor, the classical inverted pendulum and a a "double disks and spring" system. The RT code was direcly generated from Python for a Linux machine with the preempt_rt patch. In my opinion the toolbox is now enough mature to be used a good alternative to other system, like Scilab, Scicoslab, Octave and (partially) Matlab, not only for educational purposes! In my tests I did a double check: In a first phase I look if the results of the code can be used for controlling the real plant, in a second phase I compare the results of the functions with the ones of Matlab. In particular I found some problems with the implementation of "c2d", "dare" (-> dlqr) and "place (MIMO systems!). I've implemented some alternatives to these commands. Best regards Roberto On Sat, 2014-03-22 at 19:43 +0000, mur...@us... wrote: > 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 <murray@altura-2.local> > - > - * src/frdata.py, src/xferfcn.py: updated to use __truediv__ and > - __rtruediv__ for compatibility with python3 > - > -2013-07-14 Richard Murray <murray@altura-2.local> > - > - * 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 <murray@altura-2.local> > - > - * 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 <murray@altura-2.local> > - > - * src/xferfcn.py (TransferFunction.horner): small fix to docstring > - > - * src/freqplot.py (nyquist_plot): small fix to docstring > - > -2013-06-09 Richard Murray <murray@altura-2.local> > - > - * 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 <murray@altura.local> > - > - * 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 <murray@altura.local> > - > - * 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 <murray@altura.local> > - > - * 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 <murray@altura.local> > - > - * 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 <murray@altura.local> > - > - * 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 <murray@altura.local> > - > - * 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 <murray@altura.local> > - > - * 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 <murray@altura.local> > - > - * 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 <murray@altura.local> > - > - * 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 <murray@altura.local> > - > - * examples/genswitch.py (genswitch): updated calls to legend, fixing > - problem pointed out by Scott Livingston > - > -2012-10-19 Richard Murray <mu...@dn...net> > - > - * 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...net> > - > - * 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...net> > - > - * src/lti.py (timebase): new function to return timebase. Doesn't > - yet handle the case where dt == None. > - > -2012-10-07 Richard Murray <murray@altura.local> > - > - * 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 <murray@altura.local> > - > - * 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 <murray@altura.local> > - > - * 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 <murray@altura.local> > - > - * 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 <murray@altura.local> > - > - * 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 <murray@altura.local> > - > - * tests/statefbk_test.py (TestStatefbk.testAcker): unit test > - > - * src/statefbk.py (acker): added acker() from Roberto Bucher. > - > -2012-08-29 Richard Murray <murray@altura.local> > - > - * 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 <murray@altura.local> > - > - * 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 <murray@altura.local> > - > - * 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 <murray@altura.local> > - > - * 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 <murray@malabar.local> > - > - * 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 <murray@malabar.local> > - > - * src/timeresp.py: fixed doc reference to time-series-convention > - > -2011-08-08 Richard Murray <murray@malabar.local> > - > - * doc/index.rst, doc/modules.rst: Moved MATLAB section into > - python-control modules file > - > -2011-08-07 Richard Murray <murray@malabar.local> > - > - * 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 <murray@malabar.local> > - > - * 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 <murray@malabar.local> > - > - * 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 <murray@malabar.local> > - > - * 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 <murray@malabar.local> > - > - * 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 <murray@malabar.local> > - > - * 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 <murray@malabar.local> > - > - * 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 <murray@malabar.local> > - > - * 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 <murray@malabar.local> > - > - * 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 <murray@malabar.local> > - > - * src/rlocus.py: added real() and imag() to list of functions > - imported from numpy > - > - * src/freqplot.py: renamed plotting functions to BodePlot, > - NyquistPlot, GangOf4Plot and MarginPlot. Set up aliases to the more > - common names (bode, nyquest, gangof4, margin). Mainly playing > - around with idea for the eventual interface to use. > - > - * tests/matlab_test.py: updated timeresp outputs to match MATLAB > - > - * src/matlab.py (impulse, initial, lsim, step): switched outputs > - from step, impulse, initial, lsim to match MATLAB standard > - > -2011-07-01 Richard Murray <murray@malabar.local> > - > - * src/rlocus.py: modified scipy import to only import those > - 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 <murray@malabar.local> > - > - * 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 <murray@malabar.local> > - > - * doc/intro.rst: fixed some small types > - > - * doc/control.tex: removed (no longer needed) > - > -2011-06-22 Richard Murray <murray@malabar.local> > - > - * 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 <murray@malabar.local> > - > - * 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 <murray@malabar.local> > - > - * 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 <murray@malabar.local> > - > - * 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 <murray@malabar.local> > - > - * 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 <murray@malabar.local> > - > - * 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 <murray@malabar.local> > - > - * 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 <murray@malabar.local> > - > - * 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 <murray@malabar.local> > - > - * 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 <murray@malabar.local> > - > - * 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 <murray@sumatra.local> > - > - * 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 <murray@sumatra.local> > - > - * setup.py: updated version number to 0.4a > - > -2010-11-05 Richard Murray <murray@sumatra.local> > - > - * 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 <murray@sumatra.local> > - > - * 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 <murray@sumatra.local> > - > - * src/statefbk.py (ctrb): new function for testing controllability > - * src/statefbk.py (obsv): new function for testing observabiilty > - > -2010-09-02 Richard Murray <murray@sumatra.local> > - > - * 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 <murray@sumatra.local> > - > - * 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 <murray@sumatra.local> > - > - * 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 <murray@sumatra.local> > - > - * 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 <murray@kona-2.local> > - * ./ 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 <murray@sidamo.local> > + > + * src/matlab.py (ss): allow five arguments to create a discrete time > + system. From Roberto Bucher, 12 Jan 2014 > + > +2014-03-22 Richard Murray <murray@sidamo.local> > + > + * src/bdalg.py (feedback): allow FRD for feedback() > + > +2014-03-22 Richard Murray <murray@sidamo.local> > + > + * 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 <murray@altura-2.local> > + > + * src/frdata.py, src/xferfcn.py: updated to use __truediv__ and > + __rtruediv__ for compatibility with python3 > + > +2013-07-14 Richard Murray <murray@altura-2.local> > + > + * 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 <murray@altura-2.local> > + > + * 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 <murray@altura-2.local> > + > + * src/xferfcn.py (TransferFunction.horner): small fix to docstring > + > + * src/freqplot.py (nyquist_plot): small fix to docstring > + > +2013-06-09 Richard Murray <murray@altura-2.local> > + > + * 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 <murray@altura.local> > + > + * 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 <murray@altura.local> > + > + * 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 <murray@altura.local> > + > + * 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 <murray@altura.local> > + > + * 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 <murray@altura.local> > + > + * 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 <murray@altura.local> > + > + * 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 <murray@altura.local> > + > + * 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 <murray@altura.local> > + > + * 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 <murray@altura.local> > + > + * 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 <murray@altura.local> > + > + * examples/genswitch.py (genswitch): updated calls to legend, fixing > + problem pointed out by Scott Livingston > + > +2012-10-19 Richard Murray <mu...@dn...net> > + > + * 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...net> > + > + * 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...net> > + > + * src/lti.py (timebase): new function to return timebase. Doesn't > + yet handle the case where dt == None. > + > +2012-10-07 Richard Murray <murray@altura.local> > + > + * 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 <murray@altura.local> > + > + * 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 <murray@altura.local> > + > + * 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 <murray@altura.local> > + > + * 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 t... 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