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From: Richard M. <mu...@cd...> - 2011-06-20 01:34:12
|
Version 0.4c of the Python Control Systems Library (python-control) has been posted to SourceForge. The main changes for this version are: * Added matrix solvers from LTH (Ola Johnsson, Jerker Nordh, Bjorn Olofsson, Vanessa Romero Segovia. These implement the lyap, dlyap, care and dare functions using slycot. * 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. You can download this version of the code from SourceForge https://sourceforge.net/projects/python-control/files A more detailed list of changes is included below (starting from 0.4b). -richard 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 |
From: Richard M. <mu...@cd...> - 2011-04-02 18:58:10
|
Version 0.4b of the Python Control Systems Library (python-control) has just been posted to SourceForge. The main changes for this version are: * Initial implementation of model reduction functions: hsvd(), modred(), balred(), courtesy of Brandt Belson, Steve Brunton, Kevin Chen, and Lauren Padilla. * Changes to (eventually) support MIMO transfer functions. These should be transparent to users of the MATLAB interface (control.matlab), but control functions now use a separate class structure. Courtesy randt Belson, Steve Brunton, Kevin Chen, and Lauren Padilla. * Updated functionality for Nichols charts, courtesy Allan McInnes. * Improvements in unwrap function, courtesy Sawyer Fuller. You can download this version of the code from SourceForge https://sourceforge.net/projects/python-control/files There examples subdirectory has also been updated to contain the code for the PVTOL LQR and nested controller design (see project wiki page). If you would like all of the test files and additional examples, you can check out the source distribution using subversion: svn co https://python-control.svn.sourceforge.net/svnroot/python-control/tags/control-0.4b control-0.4b A more detailed list of changes is included below (starting from 0.4a, which was the Princeton branch of the code). -richard 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 |
From: Richard M. <mu...@cd...> - 2011-02-13 03:46:42
|
Version 0.3d of the Python Control Systems Library (python-control) has just been posted to SourceForge. The main changes for this version are: * New function: rlocus(), courtesy Ryan Krauss <rk...@si...> * New function: pade(), courtesy Sawyer Fuller <mi...@ca...> * New functions: nichols(), ngrid(), courtesy Allan McInnes <All...@ca...> * Added lsim() wrapper to allow systems with poles at origin. Still need to fix this for step() and impulse() A detailed list of changes is included below. The next release of python-control will be a version 0.4a and will have some fairly significant changes in the underlying class structure, courtesy of Brandt Belson, Steve Brunton, Kevin Chen, and Lauren Padilla at Princeton. -richard 2011-02-12 Richard Murray <murray@sumatra.local> * setup.py: Updated version number to 0.3d, in preparation for release * src/statefbk.py (lqr): Updated sb02md calling signature to match latest slycot version (Lauren Padilla) * src/freqplot.py (nichols_grid): new function from Allan McInnes <all...@ca...> to generate a Nichols chart for a given plot (equivalent to ngrid in MATLAB). * src/matlab.py (ngrid): MATLAB compatible ngrid() command 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 |
From: Richard M. <mu...@cd...> - 2010-06-11 05:14:25
|
Version 0.3c of the python-control package is now released. Major changes: * Added place() and lqr() commands, using the SLICOT library (via Enrico Avventi's slycot wrappers). LQR works on MIMO systems. * Frequency range for Bode plots are now computed using the poles and zeros of the system. * Bode plots can how accept a list of systems: bode(sys1, ..., sysN) * Put in docstrings for all user accessible functions * Set up wiki with examples and download instructions http://python-control.sourceforge.net Full list of changes below. -richard 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 |