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From: <kk...@us...> - 2011-02-08 22:18:20
|
Revision: 103
http://python-control.svn.sourceforge.net/python-control/?rev=103&view=rev
Author: kkchen
Date: 2011-02-08 22:18:14 +0000 (Tue, 08 Feb 2011)
Log Message:
-----------
Changed gram back to not needed 'deepcopy' now that slycot sb03md is fixed. Also added a unittest to check that an exception is raised when gram is give something other than StateSpace object.
Lauren Padilla <lpa...@pr...>
Modified Paths:
--------------
branches/control-0.4a/doc/Makefile
branches/control-0.4a/src/TestStatefbk.py
branches/control-0.4a/src/statefbk.py
Modified: branches/control-0.4a/doc/Makefile
===================================================================
--- branches/control-0.4a/doc/Makefile 2011-02-08 22:18:08 UTC (rev 102)
+++ branches/control-0.4a/doc/Makefile 2011-02-08 22:18:14 UTC (rev 103)
@@ -3,7 +3,7 @@
# You can set these variables from the command line.
SPHINXOPTS =
-SPHINXBUILD = /Users/steve/CODES/Sphinx-1.0.6/sphinx-build.py
+SPHINXBUILD = /Applications/Sphinx-1.0.6/sphinx-build.py
PAPER =
BUILDDIR = _build
Modified: branches/control-0.4a/src/TestStatefbk.py
===================================================================
--- branches/control-0.4a/src/TestStatefbk.py 2011-02-08 22:18:08 UTC (rev 102)
+++ branches/control-0.4a/src/TestStatefbk.py 2011-02-08 22:18:14 UTC (rev 103)
@@ -73,6 +73,12 @@
Wo = gram(sys,'o')
np.testing.assert_array_almost_equal(Wo, Wotrue)
+ def testGramsys(self):
+ num =[1.]
+ den = [1., 1., 1.]
+ sys = tf(num,den)
+ self.assertRaises(ValueError, gram, sys, 'o')
+ self.assertRaises(ValueError, gram, sys, 'c')
if __name__ == '__main__':
unittest.main()
Modified: branches/control-0.4a/src/statefbk.py
===================================================================
--- branches/control-0.4a/src/statefbk.py 2011-02-08 22:18:08 UTC (rev 102)
+++ branches/control-0.4a/src/statefbk.py 2011-02-08 22:18:14 UTC (rev 103)
@@ -43,6 +43,7 @@
import numpy as np
import ctrlutil
from exception import *
+import statesp
# Pole placement
def place(A, B, p):
@@ -255,6 +256,7 @@
Raises
------
ValueError
+ if system is not instance of StateSpace class
if `type` is not 'c' or 'o'
if system is unstable (sys.A has eigenvalues not in left half plane)
ImportError
@@ -267,10 +269,10 @@
"""
- from copy import deepcopy
-
- #Check for ss system object, need a utility for this?
-
+ #Check for ss system object
+ if not isinstance(sys,statesp.StateSpace):
+ raise ValueError, "System must be StateSpace!"
+
#TODO: Check for continous or discrete, only continuous supported right now
# if isCont():
# dico = 'C'
@@ -302,7 +304,7 @@
raise ControlSlycot("can't find slycot module 'sb03md'")
n = sys.states
U = np.zeros((n,n))
- A = deepcopy(sys.A)
+ A = sys.A
out = sb03md(n, C, A, U, dico, 'X', 'N', trana)
gram = out[0]
return gram
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|
|
From: <kk...@us...> - 2011-02-08 22:18:57
|
Revision: 110
http://python-control.svn.sourceforge.net/python-control/?rev=110&view=rev
Author: kkchen
Date: 2011-02-08 22:18:49 +0000 (Tue, 08 Feb 2011)
Log Message:
-----------
Modified examples so that they are compatible with the new classes. Minor changes to some of the python-control files to handle bugs found in examples.
Lauren Padilla <lpa...@pr...>
Modified Paths:
--------------
branches/control-0.4a/examples/pvtol-lqr.py
branches/control-0.4a/examples/pvtol-nested-ss.py
branches/control-0.4a/examples/pvtol-nested.py
branches/control-0.4a/examples/secord-matlab.py
branches/control-0.4a/examples/slicot-test.py
branches/control-0.4a/examples/type2_type3.py
branches/control-0.4a/src/freqplot.py
branches/control-0.4a/src/pzmap.py
branches/control-0.4a/src/statesp.py
Modified: branches/control-0.4a/examples/pvtol-lqr.py
===================================================================
--- branches/control-0.4a/examples/pvtol-lqr.py 2011-02-08 22:18:42 UTC (rev 109)
+++ branches/control-0.4a/examples/pvtol-lqr.py 2011-02-08 22:18:49 UTC (rev 110)
@@ -119,7 +119,7 @@
subplot(221); title("Identity weights")
# plot(T, Y[:,1, 1], '-', T, Y[:,2, 2], '--'); hold(True);
-plot(Tx, Yx[0,:].T, '-', Ty, Yy[0,:].T, '--'); hold(True);
+plot(Tx.T, Yx[0,:].T, '-', Ty.T, Yy[0,:].T, '--'); hold(True);
plot([0, 10], [1, 1], 'k-'); hold(True);
axis([0, 10, -0.1, 1.4]);
@@ -141,9 +141,9 @@
[T3, Y3] = step(H1cx, T=linspace(0,10,100));
subplot(222); title("Effect of input weights")
-plot(T1, Y1[0,:].T, 'b-'); hold(True);
-plot(T2, Y2[0,:].T, 'b-'); hold(True);
-plot(T3, Y3[0,:].T, 'b-'); hold(True);
+plot(T1.T, Y1[0,:].T, 'b-'); hold(True);
+plot(T2.T, Y2[0,:].T, 'b-'); hold(True);
+plot(T3.T, Y3[0,:].T, 'b-'); hold(True);
plot([0 ,10], [1, 1], 'k-'); hold(True);
axis([0, 10, -0.1, 1.4]);
@@ -162,7 +162,7 @@
subplot(223); title("Output weighting")
[T2x, Y2x] = step(H2x, T=linspace(0,10,100));
[T2y, Y2y] = step(H2y, T=linspace(0,10,100));
-plot(T2x, Y2x[0,:].T, T2y, Y2y[0,:].T)
+plot(T2x.T, Y2x[0,:].T, T2y.T, Y2y[0,:].T)
ylabel('position');
xlabel('time'); ylabel('position');
legend(('x', 'y'), loc='lower right');
@@ -185,7 +185,7 @@
# step(H3x, H3y, 10);
[T3x, Y3x] = step(H3x, T=linspace(0,10,100));
[T3y, Y3y] = step(H3y, T=linspace(0,10,100));
-plot(T3x, Y3x[0,:].T, T3y, Y3y[0,:].T)
+plot(T3x.T, Y3x[0,:].T, T3y.T, Y3y[0,:].T)
title("Physically motivated weights")
xlabel('time');
legend(('x', 'y'), loc='lower right');
Modified: branches/control-0.4a/examples/pvtol-nested-ss.py
===================================================================
--- branches/control-0.4a/examples/pvtol-nested-ss.py 2011-02-08 22:18:42 UTC (rev 109)
+++ branches/control-0.4a/examples/pvtol-nested-ss.py 2011-02-08 22:18:49 UTC (rev 110)
@@ -10,6 +10,7 @@
from matplotlib.pyplot import * # Grab MATLAB plotting functions
from control.matlab import * # MATLAB-like functions
+import numpy as np
# System parameters
m = 4; # mass of aircraft
@@ -107,7 +108,7 @@
subplot(phaseh);
semilogx([10^-4, 10^3], [-180, -180], 'k-')
hold(True);
-semilogx(w, phase, 'b-')
+semilogx(w, np.squeeze(phase), 'b-')
axis([10^-4, 10^3, -360, 0]);
xlabel('Frequency [deg]'); ylabel('Phase [deg]');
# set(gca, 'YTick', [-360, -270, -180, -90, 0]);
@@ -144,14 +145,15 @@
figure(9);
(Tvec, Yvec) = step(T, None, linspace(1, 20));
-plot(Tvec, Yvec); hold(True);
+plot(Tvec.T, Yvec.T); hold(True);
(Tvec, Yvec) = step(Co*S, None, linspace(1, 20));
-plot(Tvec, Yvec);
+plot(Tvec.T, Yvec.T);
+#TODO: PZmap for statespace systems has not yet been implemented.
figure(10); clf();
-(P, Z) = pzmap(T, Plot=True)
-print "Closed loop poles and zeros: ", P, Z
+#(P, Z) = pzmap(T, Plot=True)
+#print "Closed loop poles and zeros: ", P, Z
# Gang of Four
figure(11); clf();
Modified: branches/control-0.4a/examples/pvtol-nested.py
===================================================================
--- branches/control-0.4a/examples/pvtol-nested.py 2011-02-08 22:18:42 UTC (rev 109)
+++ branches/control-0.4a/examples/pvtol-nested.py 2011-02-08 22:18:49 UTC (rev 110)
@@ -10,6 +10,7 @@
from matplotlib.pyplot import * # Grab MATLAB plotting functions
from control.matlab import * # MATLAB-like functions
+import numpy as np
# System parameters
m = 4; # mass of aircraft
@@ -97,7 +98,7 @@
subplot(phaseh);
semilogx([10^-4, 10^3], [-180, -180], 'k-')
hold(True);
-semilogx(w, phase, 'b-')
+semilogx(w, np.squeeze(phase), 'b-')
axis([10^-4, 10^3, -360, 0]);
xlabel('Frequency [deg]'); ylabel('Phase [deg]');
# set(gca, 'YTick', [-360, -270, -180, -90, 0]);
@@ -134,10 +135,10 @@
figure(9);
(Tvec, Yvec) = step(T, None, linspace(1, 20));
-plot(Tvec, Yvec); hold(True);
+plot(Tvec.T, Yvec.T); hold(True);
(Tvec, Yvec) = step(Co*S, None, linspace(1, 20));
-plot(Tvec, Yvec);
+plot(Tvec.T, Yvec.T);
figure(10); clf();
(P, Z) = pzmap(T, Plot=True)
Modified: branches/control-0.4a/examples/secord-matlab.py
===================================================================
--- branches/control-0.4a/examples/secord-matlab.py 2011-02-08 22:18:42 UTC (rev 109)
+++ branches/control-0.4a/examples/secord-matlab.py 2011-02-08 22:18:49 UTC (rev 110)
@@ -18,7 +18,7 @@
# Step response for the system
figure(1)
T, yout = step(sys)
-plot(T, yout)
+plot(T.T, yout.T)
# Bode plot for the system
figure(2)
Modified: branches/control-0.4a/examples/slicot-test.py
===================================================================
--- branches/control-0.4a/examples/slicot-test.py 2011-02-08 22:18:42 UTC (rev 109)
+++ branches/control-0.4a/examples/slicot-test.py 2011-02-08 22:18:49 UTC (rev 110)
@@ -17,7 +17,7 @@
sys = ss(A, B, C, 0);
# Eigenvalue placement
-from slycot import sb01bd
+#from slycot import sb01bd
K = place(A, B, [-3, -2, -1])
print "Pole place: K = ", K
print "Pole place: eigs = ", np.linalg.eig(A - B * K)[0]
Modified: branches/control-0.4a/examples/type2_type3.py
===================================================================
--- branches/control-0.4a/examples/type2_type3.py 2011-02-08 22:18:42 UTC (rev 109)
+++ branches/control-0.4a/examples/type2_type3.py 2011-02-08 22:18:49 UTC (rev 110)
@@ -15,7 +15,7 @@
Kii = Ki
# Plant transfer function from torque to rate
-inertia = integrator*1/J
+inertia = integrator*(1/J)
friction = b # transfer function from rate to torque
P = inertia # friction is modelled as a separate block
Modified: branches/control-0.4a/src/freqplot.py
===================================================================
--- branches/control-0.4a/src/freqplot.py 2011-02-08 22:18:42 UTC (rev 109)
+++ branches/control-0.4a/src/freqplot.py 2011-02-08 22:18:49 UTC (rev 110)
@@ -177,7 +177,12 @@
# Select a default range if none is provided
if (omega == None):
omega = default_frequency_range(syslist)
-
+ # Interpolate between wmin and wmax if a tuple or list are provided
+ elif (isinstance(omega,list) | isinstance(omega,tuple)):
+ # Only accept tuple or list of length 2
+ if (len(omega) != 2):
+ raise ValueError("Supported frequency arguments are (wmin,wmax) tuple or list, or frequency vector. ")
+ omega = np.logspace(np.log10(omega[0]),np.log10(omega[1]),num=50,endpoint=True,base=10.0)
for sys in syslist:
if (sys.inputs > 1 or sys.outputs > 1):
#TODO: Add MIMO nyquist plots.
Modified: branches/control-0.4a/src/pzmap.py
===================================================================
--- branches/control-0.4a/src/pzmap.py 2011-02-08 22:18:42 UTC (rev 109)
+++ branches/control-0.4a/src/pzmap.py 2011-02-08 22:18:49 UTC (rev 110)
@@ -52,7 +52,7 @@
poles = sp.roots(sys.den);
zeros = sp.roots(sys.num);
else:
- raise TypeException
+ raise NotImplementedError("pzmap not implemented for state space systems yet.")
if (Plot):
# Plot the locations of the poles and zeros
Modified: branches/control-0.4a/src/statesp.py
===================================================================
--- branches/control-0.4a/src/statesp.py 2011-02-08 22:18:42 UTC (rev 109)
+++ branches/control-0.4a/src/statesp.py 2011-02-08 22:18:49 UTC (rev 110)
@@ -73,7 +73,7 @@
"""
from numpy import all, angle, any, array, concatenate, cos, delete, dot, \
- empty, exp, eye, matrix, ones, pi, poly, poly1d, roots, sin, zeros
+ empty, exp, eye, matrix, ones, pi, poly, poly1d, roots, shape, sin, zeros
from numpy.random import rand, randn
from numpy.linalg import inv, det, solve
from numpy.linalg.linalg import LinAlgError
@@ -456,6 +456,8 @@
# TODO: transfer function to state space conversion is still buggy!
print "Warning: transfer function to state space conversion by td04ad \
is still buggy!"
+ #print num
+ #print shape(num)
ssout = td04ad(sys.inputs, sys.outputs, index, den, num)
states = ssout[0]
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|
From: <kk...@us...> - 2011-02-08 22:19:05
|
Revision: 112
http://python-control.svn.sourceforge.net/python-control/?rev=112&view=rev
Author: kkchen
Date: 2011-02-08 22:18:58 +0000 (Tue, 08 Feb 2011)
Log Message:
-----------
Fixed pzmap.py for transfer functions. Still not implemented for state space.
Lauren Padilla <lpa...@pr...>
Modified Paths:
--------------
branches/control-0.4a/examples/pvtol-nested.py
branches/control-0.4a/examples/type2_type3.py
branches/control-0.4a/src/pzmap.py
Modified: branches/control-0.4a/examples/pvtol-nested.py
===================================================================
--- branches/control-0.4a/examples/pvtol-nested.py 2011-02-08 22:18:53 UTC (rev 111)
+++ branches/control-0.4a/examples/pvtol-nested.py 2011-02-08 22:18:58 UTC (rev 112)
@@ -24,8 +24,8 @@
Po = tf([1], [m, c, 0]); # outer loop (position)
# Use state space versions
-# Pi = tf2ss(Pi);
-# Po = tf2ss(Po);
+Pi = tf2ss(Pi);
+Po = tf2ss(Po);
#
# Inner loop control design
Modified: branches/control-0.4a/examples/type2_type3.py
===================================================================
--- branches/control-0.4a/examples/type2_type3.py 2011-02-08 22:18:53 UTC (rev 111)
+++ branches/control-0.4a/examples/type2_type3.py 2011-02-08 22:18:58 UTC (rev 112)
@@ -15,7 +15,7 @@
Kii = Ki
# Plant transfer function from torque to rate
-inertia = integrator*(1/J)
+inertia = integrator*1/J
friction = b # transfer function from rate to torque
P = inertia # friction is modelled as a separate block
Modified: branches/control-0.4a/src/pzmap.py
===================================================================
--- branches/control-0.4a/src/pzmap.py 2011-02-08 22:18:53 UTC (rev 111)
+++ branches/control-0.4a/src/pzmap.py 2011-02-08 22:18:58 UTC (rev 112)
@@ -42,6 +42,7 @@
import matplotlib.pyplot as plt
import scipy as sp
+import numpy as np
import xferfcn
# Compute poles and zeros for a system
@@ -49,8 +50,8 @@
def pzmap(sys, Plot=True):
"""Plot a pole/zero map for a transfer function"""
if (isinstance(sys, xferfcn.TransferFunction)):
- poles = sp.roots(sys.den);
- zeros = sp.roots(sys.num);
+ poles = sp.roots(np.squeeze(np.asarray(sys.den)));
+ zeros = sp.roots(np.squeeze(np.asarray(sys.num)));
else:
raise NotImplementedError("pzmap not implemented for state space systems yet.")
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|
|
From: <kk...@us...> - 2011-02-08 22:19:13
|
Revision: 113
http://python-control.svn.sourceforge.net/python-control/?rev=113&view=rev
Author: kkchen
Date: 2011-02-08 22:19:07 +0000 (Tue, 08 Feb 2011)
Log Message:
-----------
Updated test.py to be in repository
I forgot to hg add test.py last time, oops. Made a few other
minor edits, removing some duplicate code with "execs" in test.py
for python versions <2.7
bb...@ra...
Modified Paths:
--------------
branches/control-0.4a/examples/pvtol-lqr.py
branches/control-0.4a/examples/pvtol-nested-ss.py
branches/control-0.4a/examples/pvtol-nested.py
branches/control-0.4a/examples/secord-matlab.py
branches/control-0.4a/examples/slicot-test.py
branches/control-0.4a/src/freqplot.py
branches/control-0.4a/src/pzmap.py
branches/control-0.4a/src/statesp.py
branches/control-0.4a/src/xferfcn.py
Added Paths:
-----------
branches/control-0.4a/src/test.py
Modified: branches/control-0.4a/examples/pvtol-lqr.py
===================================================================
--- branches/control-0.4a/examples/pvtol-lqr.py 2011-02-08 22:18:58 UTC (rev 112)
+++ branches/control-0.4a/examples/pvtol-lqr.py 2011-02-08 22:19:07 UTC (rev 113)
@@ -119,7 +119,7 @@
subplot(221); title("Identity weights")
# plot(T, Y[:,1, 1], '-', T, Y[:,2, 2], '--'); hold(True);
-plot(Tx.T, Yx[0,:].T, '-', Ty.T, Yy[0,:].T, '--'); hold(True);
+plot(Tx, Yx[0,:].T, '-', Ty, Yy[0,:].T, '--'); hold(True);
plot([0, 10], [1, 1], 'k-'); hold(True);
axis([0, 10, -0.1, 1.4]);
@@ -141,9 +141,9 @@
[T3, Y3] = step(H1cx, T=linspace(0,10,100));
subplot(222); title("Effect of input weights")
-plot(T1.T, Y1[0,:].T, 'b-'); hold(True);
-plot(T2.T, Y2[0,:].T, 'b-'); hold(True);
-plot(T3.T, Y3[0,:].T, 'b-'); hold(True);
+plot(T1, Y1[0,:].T, 'b-'); hold(True);
+plot(T2, Y2[0,:].T, 'b-'); hold(True);
+plot(T3, Y3[0,:].T, 'b-'); hold(True);
plot([0 ,10], [1, 1], 'k-'); hold(True);
axis([0, 10, -0.1, 1.4]);
@@ -162,7 +162,7 @@
subplot(223); title("Output weighting")
[T2x, Y2x] = step(H2x, T=linspace(0,10,100));
[T2y, Y2y] = step(H2y, T=linspace(0,10,100));
-plot(T2x.T, Y2x[0,:].T, T2y.T, Y2y[0,:].T)
+plot(T2x, Y2x[0,:].T, T2y, Y2y[0,:].T)
ylabel('position');
xlabel('time'); ylabel('position');
legend(('x', 'y'), loc='lower right');
@@ -185,7 +185,7 @@
# step(H3x, H3y, 10);
[T3x, Y3x] = step(H3x, T=linspace(0,10,100));
[T3y, Y3y] = step(H3y, T=linspace(0,10,100));
-plot(T3x.T, Y3x[0,:].T, T3y.T, Y3y[0,:].T)
+plot(T3x, Y3x[0,:].T, T3y, Y3y[0,:].T)
title("Physically motivated weights")
xlabel('time');
legend(('x', 'y'), loc='lower right');
Modified: branches/control-0.4a/examples/pvtol-nested-ss.py
===================================================================
--- branches/control-0.4a/examples/pvtol-nested-ss.py 2011-02-08 22:18:58 UTC (rev 112)
+++ branches/control-0.4a/examples/pvtol-nested-ss.py 2011-02-08 22:19:07 UTC (rev 113)
@@ -10,7 +10,6 @@
from matplotlib.pyplot import * # Grab MATLAB plotting functions
from control.matlab import * # MATLAB-like functions
-import numpy as np
# System parameters
m = 4; # mass of aircraft
@@ -108,7 +107,7 @@
subplot(phaseh);
semilogx([10^-4, 10^3], [-180, -180], 'k-')
hold(True);
-semilogx(w, np.squeeze(phase), 'b-')
+semilogx(w, phase, 'b-')
axis([10^-4, 10^3, -360, 0]);
xlabel('Frequency [deg]'); ylabel('Phase [deg]');
# set(gca, 'YTick', [-360, -270, -180, -90, 0]);
@@ -145,15 +144,14 @@
figure(9);
(Tvec, Yvec) = step(T, None, linspace(1, 20));
-plot(Tvec.T, Yvec.T); hold(True);
+plot(Tvec, Yvec); hold(True);
(Tvec, Yvec) = step(Co*S, None, linspace(1, 20));
-plot(Tvec.T, Yvec.T);
+plot(Tvec, Yvec);
-#TODO: PZmap for statespace systems has not yet been implemented.
figure(10); clf();
-#(P, Z) = pzmap(T, Plot=True)
-#print "Closed loop poles and zeros: ", P, Z
+(P, Z) = pzmap(T, Plot=True)
+print "Closed loop poles and zeros: ", P, Z
# Gang of Four
figure(11); clf();
Modified: branches/control-0.4a/examples/pvtol-nested.py
===================================================================
--- branches/control-0.4a/examples/pvtol-nested.py 2011-02-08 22:18:58 UTC (rev 112)
+++ branches/control-0.4a/examples/pvtol-nested.py 2011-02-08 22:19:07 UTC (rev 113)
@@ -10,7 +10,6 @@
from matplotlib.pyplot import * # Grab MATLAB plotting functions
from control.matlab import * # MATLAB-like functions
-import numpy as np
# System parameters
m = 4; # mass of aircraft
@@ -24,8 +23,8 @@
Po = tf([1], [m, c, 0]); # outer loop (position)
# Use state space versions
-Pi = tf2ss(Pi);
-Po = tf2ss(Po);
+# Pi = tf2ss(Pi);
+# Po = tf2ss(Po);
#
# Inner loop control design
@@ -98,7 +97,7 @@
subplot(phaseh);
semilogx([10^-4, 10^3], [-180, -180], 'k-')
hold(True);
-semilogx(w, np.squeeze(phase), 'b-')
+semilogx(w, phase, 'b-')
axis([10^-4, 10^3, -360, 0]);
xlabel('Frequency [deg]'); ylabel('Phase [deg]');
# set(gca, 'YTick', [-360, -270, -180, -90, 0]);
@@ -135,10 +134,10 @@
figure(9);
(Tvec, Yvec) = step(T, None, linspace(1, 20));
-plot(Tvec.T, Yvec.T); hold(True);
+plot(Tvec, Yvec); hold(True);
(Tvec, Yvec) = step(Co*S, None, linspace(1, 20));
-plot(Tvec.T, Yvec.T);
+plot(Tvec, Yvec);
figure(10); clf();
(P, Z) = pzmap(T, Plot=True)
Modified: branches/control-0.4a/examples/secord-matlab.py
===================================================================
--- branches/control-0.4a/examples/secord-matlab.py 2011-02-08 22:18:58 UTC (rev 112)
+++ branches/control-0.4a/examples/secord-matlab.py 2011-02-08 22:19:07 UTC (rev 113)
@@ -18,7 +18,7 @@
# Step response for the system
figure(1)
T, yout = step(sys)
-plot(T.T, yout.T)
+plot(T, yout)
# Bode plot for the system
figure(2)
Modified: branches/control-0.4a/examples/slicot-test.py
===================================================================
--- branches/control-0.4a/examples/slicot-test.py 2011-02-08 22:18:58 UTC (rev 112)
+++ branches/control-0.4a/examples/slicot-test.py 2011-02-08 22:19:07 UTC (rev 113)
@@ -17,7 +17,7 @@
sys = ss(A, B, C, 0);
# Eigenvalue placement
-#from slycot import sb01bd
+from slycot import sb01bd
K = place(A, B, [-3, -2, -1])
print "Pole place: K = ", K
print "Pole place: eigs = ", np.linalg.eig(A - B * K)[0]
Modified: branches/control-0.4a/src/freqplot.py
===================================================================
--- branches/control-0.4a/src/freqplot.py 2011-02-08 22:18:58 UTC (rev 112)
+++ branches/control-0.4a/src/freqplot.py 2011-02-08 22:19:07 UTC (rev 113)
@@ -177,12 +177,7 @@
# Select a default range if none is provided
if (omega == None):
omega = default_frequency_range(syslist)
- # Interpolate between wmin and wmax if a tuple or list are provided
- elif (isinstance(omega,list) | isinstance(omega,tuple)):
- # Only accept tuple or list of length 2
- if (len(omega) != 2):
- raise ValueError("Supported frequency arguments are (wmin,wmax) tuple or list, or frequency vector. ")
- omega = np.logspace(np.log10(omega[0]),np.log10(omega[1]),num=50,endpoint=True,base=10.0)
+
for sys in syslist:
if (sys.inputs > 1 or sys.outputs > 1):
#TODO: Add MIMO nyquist plots.
Modified: branches/control-0.4a/src/pzmap.py
===================================================================
--- branches/control-0.4a/src/pzmap.py 2011-02-08 22:18:58 UTC (rev 112)
+++ branches/control-0.4a/src/pzmap.py 2011-02-08 22:19:07 UTC (rev 113)
@@ -42,7 +42,6 @@
import matplotlib.pyplot as plt
import scipy as sp
-import numpy as np
import xferfcn
# Compute poles and zeros for a system
@@ -50,10 +49,10 @@
def pzmap(sys, Plot=True):
"""Plot a pole/zero map for a transfer function"""
if (isinstance(sys, xferfcn.TransferFunction)):
- poles = sp.roots(np.squeeze(np.asarray(sys.den)));
- zeros = sp.roots(np.squeeze(np.asarray(sys.num)));
+ poles = sp.roots(sys.den);
+ zeros = sp.roots(sys.num);
else:
- raise NotImplementedError("pzmap not implemented for state space systems yet.")
+ raise TypeException
if (Plot):
# Plot the locations of the poles and zeros
Modified: branches/control-0.4a/src/statesp.py
===================================================================
--- branches/control-0.4a/src/statesp.py 2011-02-08 22:18:58 UTC (rev 112)
+++ branches/control-0.4a/src/statesp.py 2011-02-08 22:19:07 UTC (rev 113)
@@ -73,7 +73,7 @@
"""
from numpy import all, angle, any, array, concatenate, cos, delete, dot, \
- empty, exp, eye, matrix, ones, pi, poly, poly1d, roots, shape, sin, zeros
+ empty, exp, eye, matrix, ones, pi, poly, poly1d, roots, sin, zeros
from numpy.random import rand, randn
from numpy.linalg import inv, det, solve
from numpy.linalg.linalg import LinAlgError
@@ -456,8 +456,6 @@
# TODO: transfer function to state space conversion is still buggy!
print "Warning: transfer function to state space conversion by td04ad \
is still buggy!"
- #print num
- #print shape(num)
ssout = td04ad(sys.inputs, sys.outputs, index, den, num)
states = ssout[0]
Added: branches/control-0.4a/src/test.py
===================================================================
--- branches/control-0.4a/src/test.py (rev 0)
+++ branches/control-0.4a/src/test.py 2011-02-08 22:19:07 UTC (rev 113)
@@ -0,0 +1,63 @@
+import subprocess as SP
+
+def tests_old():
+ """ Runs all of the tests written for python-control. This should be
+ changed in the future so it does run seperate main functions/scripts,
+ but is integrated into the package. Also, the tests should be in their
+ own directory /trunk/tests. Running the test should be as simple as:
+ "import control; control.tests()"
+ """
+ testList = ['TestBDAlg.py','TestConvert.py','TestFreqRsp.py',\
+ 'TestMatlab.py','TestModelsimp.py','TestSlycot.py',\
+ 'TestStateSp.py','TestStatefbk.py','TestXferFcn.py']
+ #Add more tests to this list as they are created. Each is assumed to run
+ #as a script, as is usually done with unittest.
+ for test in testList:
+ print 'Running',test
+ print SP.Popen(['./'+test],stdout=SP.PIPE).communicate()[0]
+ print 'Completed',test
+
+def tests():
+ import unittest
+ try: #auto test discovery is only implemented in python 2.7+
+ start_dir='./' #change to a tests directory eventually.
+ pattern = 'Test*.py'
+ top_level_dir = './' #this might change? see
+ #http://docs.python.org/library/unittest.html#unittest.TestLoader.discover
+ test_mods=unittest.defaultTestLoader.discover(start_dir,pattern=pattern,\
+ top_level_dir=top_level_dir)
+ #now go through each module and run all of its tests.
+ print 'found test mods and they are',test_mods
+ for mod in test_mods:
+ print 'Running tests in',mod
+ tests = unittest.defaultTestLoader.loadTestFromModule(mod)
+ t = unittest.TextTestRunner()
+ t.run(tests)
+ print 'Completed tests in',mod
+ except:
+ #If can't do auto discovery, for now it is hard-coded. This is not ideal for
+ #when new tests are added or existing ones are reorganized/renamed.
+
+ #remove all of the print commands once tests are debugged and converted to
+ #unittests.
+
+ print 'Tests may be incomplete'
+ t=unittest.TextTestRunner()
+
+ testModules = ['TestBDAlg','TestConvert','TestFreqRsp','TestMatlab','TestModelsimp',\
+ 'TestStateSp','TestStatefbk','TestXferFcn'] #add additional tests here, or discovery?
+ suite = unittest.TestSuite()
+ for mod in testModules:
+ exec('import '+mod+' as currentModule')
+ print 'TEST',mod
+ suite = currentModule.suite()
+ t.run(suite)
+ #After tests have been debugged and made into unittests, remove
+ #the above (except the import) and replace with something like this:
+ #suiteList.append(ts.suite())
+ #alltests = unittest.TestSuite(suiteList)
+ #t.run(alltests)
+
+
+if __name__=='__main__':
+ tests()
Modified: branches/control-0.4a/src/xferfcn.py
===================================================================
--- branches/control-0.4a/src/xferfcn.py 2011-02-08 22:18:58 UTC (rev 112)
+++ branches/control-0.4a/src/xferfcn.py 2011-02-08 22:19:07 UTC (rev 113)
@@ -344,14 +344,14 @@
def __div__(self, other):
"""Divide two LTI objects."""
- # Convert the second argument to a transfer function.
- other = _convertToTransferFunction(other)
-
if (self.inputs > 1 or self.outputs > 1 or
other.inputs > 1 or other.outputs > 1):
raise NotImplementedError("TransferFunction.__div__ is currently \
implemented only for SISO systems.")
+ # Convert the second argument to a transfer function.
+ other = _convertToTransferFunction(other)
+
num = polymul(self.num[0][0], other.den[0][0])
den = polymul(self.den[0][0], other.num[0][0])
@@ -487,9 +487,8 @@
computes the single denominator containing all the poles of sys.den, and
reports it as the array d. The output numerator array n is modified to
- use the common denominator; the coefficient arrays are also padded with
- zeros to be the same size as d. n is an sys.outputs-by-sys.inputs-by-
- len(d) array.
+ use the common denominator. It is an sys.outputs-by-sys.inputs-by-
+ [something] array.
"""
@@ -589,12 +588,16 @@
# Multiply in the missing poles.
for p in missingpoles[i][j]:
num[i][j] = polymul(num[i][j], [1., -p])
- # Pad all numerator polynomials with zeros so that the numerator arrays
- # are the same size as the denominator.
+ # Find the largest numerator polynomial size.
+ largest = 0
for i in range(self.outputs):
for j in range(self.inputs):
- num[i][j] = insert(num[i][j], zeros(len(den) - len(num[i][j])),
- zeros(len(den) - len(num[i][j])))
+ largest = max(largest, len(num[i][j]))
+ # Pad all smaller numerator polynomials with zeros.
+ for i in range(self.outputs):
+ for j in range(self.inputs):
+ num[i][j] = insert(num[i][j], zeros(largest - len(num[i][j])),
+ zeros(largest - len(num[i][j])))
# Finally, convert the numerator to a 3-D array.
num = array(num)
# Remove trivial imaginary parts. Check for nontrivial imaginary parts.
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <kk...@us...> - 2011-02-08 22:19:20
|
Revision: 114
http://python-control.svn.sourceforge.net/python-control/?rev=114&view=rev
Author: kkchen
Date: 2011-02-08 22:19:13 +0000 (Tue, 08 Feb 2011)
Log Message:
-----------
merging changes
bb...@ra...
Modified Paths:
--------------
branches/control-0.4a/examples/pvtol-lqr.py
branches/control-0.4a/examples/pvtol-nested-ss.py
branches/control-0.4a/examples/pvtol-nested.py
branches/control-0.4a/examples/secord-matlab.py
branches/control-0.4a/examples/slicot-test.py
branches/control-0.4a/src/freqplot.py
branches/control-0.4a/src/pzmap.py
branches/control-0.4a/src/statesp.py
branches/control-0.4a/src/xferfcn.py
Modified: branches/control-0.4a/examples/pvtol-lqr.py
===================================================================
--- branches/control-0.4a/examples/pvtol-lqr.py 2011-02-08 22:19:07 UTC (rev 113)
+++ branches/control-0.4a/examples/pvtol-lqr.py 2011-02-08 22:19:13 UTC (rev 114)
@@ -119,7 +119,7 @@
subplot(221); title("Identity weights")
# plot(T, Y[:,1, 1], '-', T, Y[:,2, 2], '--'); hold(True);
-plot(Tx, Yx[0,:].T, '-', Ty, Yy[0,:].T, '--'); hold(True);
+plot(Tx.T, Yx[0,:].T, '-', Ty.T, Yy[0,:].T, '--'); hold(True);
plot([0, 10], [1, 1], 'k-'); hold(True);
axis([0, 10, -0.1, 1.4]);
@@ -141,9 +141,9 @@
[T3, Y3] = step(H1cx, T=linspace(0,10,100));
subplot(222); title("Effect of input weights")
-plot(T1, Y1[0,:].T, 'b-'); hold(True);
-plot(T2, Y2[0,:].T, 'b-'); hold(True);
-plot(T3, Y3[0,:].T, 'b-'); hold(True);
+plot(T1.T, Y1[0,:].T, 'b-'); hold(True);
+plot(T2.T, Y2[0,:].T, 'b-'); hold(True);
+plot(T3.T, Y3[0,:].T, 'b-'); hold(True);
plot([0 ,10], [1, 1], 'k-'); hold(True);
axis([0, 10, -0.1, 1.4]);
@@ -162,7 +162,7 @@
subplot(223); title("Output weighting")
[T2x, Y2x] = step(H2x, T=linspace(0,10,100));
[T2y, Y2y] = step(H2y, T=linspace(0,10,100));
-plot(T2x, Y2x[0,:].T, T2y, Y2y[0,:].T)
+plot(T2x.T, Y2x[0,:].T, T2y.T, Y2y[0,:].T)
ylabel('position');
xlabel('time'); ylabel('position');
legend(('x', 'y'), loc='lower right');
@@ -185,7 +185,7 @@
# step(H3x, H3y, 10);
[T3x, Y3x] = step(H3x, T=linspace(0,10,100));
[T3y, Y3y] = step(H3y, T=linspace(0,10,100));
-plot(T3x, Y3x[0,:].T, T3y, Y3y[0,:].T)
+plot(T3x.T, Y3x[0,:].T, T3y.T, Y3y[0,:].T)
title("Physically motivated weights")
xlabel('time');
legend(('x', 'y'), loc='lower right');
Modified: branches/control-0.4a/examples/pvtol-nested-ss.py
===================================================================
--- branches/control-0.4a/examples/pvtol-nested-ss.py 2011-02-08 22:19:07 UTC (rev 113)
+++ branches/control-0.4a/examples/pvtol-nested-ss.py 2011-02-08 22:19:13 UTC (rev 114)
@@ -10,6 +10,7 @@
from matplotlib.pyplot import * # Grab MATLAB plotting functions
from control.matlab import * # MATLAB-like functions
+import numpy as np
# System parameters
m = 4; # mass of aircraft
@@ -107,7 +108,7 @@
subplot(phaseh);
semilogx([10^-4, 10^3], [-180, -180], 'k-')
hold(True);
-semilogx(w, phase, 'b-')
+semilogx(w, np.squeeze(phase), 'b-')
axis([10^-4, 10^3, -360, 0]);
xlabel('Frequency [deg]'); ylabel('Phase [deg]');
# set(gca, 'YTick', [-360, -270, -180, -90, 0]);
@@ -144,14 +145,15 @@
figure(9);
(Tvec, Yvec) = step(T, None, linspace(1, 20));
-plot(Tvec, Yvec); hold(True);
+plot(Tvec.T, Yvec.T); hold(True);
(Tvec, Yvec) = step(Co*S, None, linspace(1, 20));
-plot(Tvec, Yvec);
+plot(Tvec.T, Yvec.T);
+#TODO: PZmap for statespace systems has not yet been implemented.
figure(10); clf();
-(P, Z) = pzmap(T, Plot=True)
-print "Closed loop poles and zeros: ", P, Z
+#(P, Z) = pzmap(T, Plot=True)
+#print "Closed loop poles and zeros: ", P, Z
# Gang of Four
figure(11); clf();
Modified: branches/control-0.4a/examples/pvtol-nested.py
===================================================================
--- branches/control-0.4a/examples/pvtol-nested.py 2011-02-08 22:19:07 UTC (rev 113)
+++ branches/control-0.4a/examples/pvtol-nested.py 2011-02-08 22:19:13 UTC (rev 114)
@@ -10,6 +10,7 @@
from matplotlib.pyplot import * # Grab MATLAB plotting functions
from control.matlab import * # MATLAB-like functions
+import numpy as np
# System parameters
m = 4; # mass of aircraft
@@ -23,8 +24,8 @@
Po = tf([1], [m, c, 0]); # outer loop (position)
# Use state space versions
-# Pi = tf2ss(Pi);
-# Po = tf2ss(Po);
+Pi = tf2ss(Pi);
+Po = tf2ss(Po);
#
# Inner loop control design
@@ -97,7 +98,7 @@
subplot(phaseh);
semilogx([10^-4, 10^3], [-180, -180], 'k-')
hold(True);
-semilogx(w, phase, 'b-')
+semilogx(w, np.squeeze(phase), 'b-')
axis([10^-4, 10^3, -360, 0]);
xlabel('Frequency [deg]'); ylabel('Phase [deg]');
# set(gca, 'YTick', [-360, -270, -180, -90, 0]);
@@ -134,10 +135,10 @@
figure(9);
(Tvec, Yvec) = step(T, None, linspace(1, 20));
-plot(Tvec, Yvec); hold(True);
+plot(Tvec.T, Yvec.T); hold(True);
(Tvec, Yvec) = step(Co*S, None, linspace(1, 20));
-plot(Tvec, Yvec);
+plot(Tvec.T, Yvec.T);
figure(10); clf();
(P, Z) = pzmap(T, Plot=True)
Modified: branches/control-0.4a/examples/secord-matlab.py
===================================================================
--- branches/control-0.4a/examples/secord-matlab.py 2011-02-08 22:19:07 UTC (rev 113)
+++ branches/control-0.4a/examples/secord-matlab.py 2011-02-08 22:19:13 UTC (rev 114)
@@ -18,7 +18,7 @@
# Step response for the system
figure(1)
T, yout = step(sys)
-plot(T, yout)
+plot(T.T, yout.T)
# Bode plot for the system
figure(2)
Modified: branches/control-0.4a/examples/slicot-test.py
===================================================================
--- branches/control-0.4a/examples/slicot-test.py 2011-02-08 22:19:07 UTC (rev 113)
+++ branches/control-0.4a/examples/slicot-test.py 2011-02-08 22:19:13 UTC (rev 114)
@@ -17,7 +17,7 @@
sys = ss(A, B, C, 0);
# Eigenvalue placement
-from slycot import sb01bd
+#from slycot import sb01bd
K = place(A, B, [-3, -2, -1])
print "Pole place: K = ", K
print "Pole place: eigs = ", np.linalg.eig(A - B * K)[0]
Modified: branches/control-0.4a/src/freqplot.py
===================================================================
--- branches/control-0.4a/src/freqplot.py 2011-02-08 22:19:07 UTC (rev 113)
+++ branches/control-0.4a/src/freqplot.py 2011-02-08 22:19:13 UTC (rev 114)
@@ -177,7 +177,12 @@
# Select a default range if none is provided
if (omega == None):
omega = default_frequency_range(syslist)
-
+ # Interpolate between wmin and wmax if a tuple or list are provided
+ elif (isinstance(omega,list) | isinstance(omega,tuple)):
+ # Only accept tuple or list of length 2
+ if (len(omega) != 2):
+ raise ValueError("Supported frequency arguments are (wmin,wmax) tuple or list, or frequency vector. ")
+ omega = np.logspace(np.log10(omega[0]),np.log10(omega[1]),num=50,endpoint=True,base=10.0)
for sys in syslist:
if (sys.inputs > 1 or sys.outputs > 1):
#TODO: Add MIMO nyquist plots.
Modified: branches/control-0.4a/src/pzmap.py
===================================================================
--- branches/control-0.4a/src/pzmap.py 2011-02-08 22:19:07 UTC (rev 113)
+++ branches/control-0.4a/src/pzmap.py 2011-02-08 22:19:13 UTC (rev 114)
@@ -42,6 +42,7 @@
import matplotlib.pyplot as plt
import scipy as sp
+import numpy as np
import xferfcn
# Compute poles and zeros for a system
@@ -49,10 +50,10 @@
def pzmap(sys, Plot=True):
"""Plot a pole/zero map for a transfer function"""
if (isinstance(sys, xferfcn.TransferFunction)):
- poles = sp.roots(sys.den);
- zeros = sp.roots(sys.num);
+ poles = sp.roots(np.squeeze(np.asarray(sys.den)));
+ zeros = sp.roots(np.squeeze(np.asarray(sys.num)));
else:
- raise TypeException
+ raise NotImplementedError("pzmap not implemented for state space systems yet.")
if (Plot):
# Plot the locations of the poles and zeros
Modified: branches/control-0.4a/src/statesp.py
===================================================================
--- branches/control-0.4a/src/statesp.py 2011-02-08 22:19:07 UTC (rev 113)
+++ branches/control-0.4a/src/statesp.py 2011-02-08 22:19:13 UTC (rev 114)
@@ -73,7 +73,7 @@
"""
from numpy import all, angle, any, array, concatenate, cos, delete, dot, \
- empty, exp, eye, matrix, ones, pi, poly, poly1d, roots, sin, zeros
+ empty, exp, eye, matrix, ones, pi, poly, poly1d, roots, shape, sin, zeros
from numpy.random import rand, randn
from numpy.linalg import inv, det, solve
from numpy.linalg.linalg import LinAlgError
@@ -456,6 +456,8 @@
# TODO: transfer function to state space conversion is still buggy!
print "Warning: transfer function to state space conversion by td04ad \
is still buggy!"
+ #print num
+ #print shape(num)
ssout = td04ad(sys.inputs, sys.outputs, index, den, num)
states = ssout[0]
Modified: branches/control-0.4a/src/xferfcn.py
===================================================================
--- branches/control-0.4a/src/xferfcn.py 2011-02-08 22:19:07 UTC (rev 113)
+++ branches/control-0.4a/src/xferfcn.py 2011-02-08 22:19:13 UTC (rev 114)
@@ -344,14 +344,14 @@
def __div__(self, other):
"""Divide two LTI objects."""
+ # Convert the second argument to a transfer function.
+ other = _convertToTransferFunction(other)
+
if (self.inputs > 1 or self.outputs > 1 or
other.inputs > 1 or other.outputs > 1):
raise NotImplementedError("TransferFunction.__div__ is currently \
implemented only for SISO systems.")
- # Convert the second argument to a transfer function.
- other = _convertToTransferFunction(other)
-
num = polymul(self.num[0][0], other.den[0][0])
den = polymul(self.den[0][0], other.num[0][0])
@@ -487,8 +487,9 @@
computes the single denominator containing all the poles of sys.den, and
reports it as the array d. The output numerator array n is modified to
- use the common denominator. It is an sys.outputs-by-sys.inputs-by-
- [something] array.
+ use the common denominator; the coefficient arrays are also padded with
+ zeros to be the same size as d. n is an sys.outputs-by-sys.inputs-by-
+ len(d) array.
"""
@@ -588,16 +589,12 @@
# Multiply in the missing poles.
for p in missingpoles[i][j]:
num[i][j] = polymul(num[i][j], [1., -p])
- # Find the largest numerator polynomial size.
- largest = 0
+ # Pad all numerator polynomials with zeros so that the numerator arrays
+ # are the same size as the denominator.
for i in range(self.outputs):
for j in range(self.inputs):
- largest = max(largest, len(num[i][j]))
- # Pad all smaller numerator polynomials with zeros.
- for i in range(self.outputs):
- for j in range(self.inputs):
- num[i][j] = insert(num[i][j], zeros(largest - len(num[i][j])),
- zeros(largest - len(num[i][j])))
+ num[i][j] = insert(num[i][j], zeros(len(den) - len(num[i][j])),
+ zeros(len(den) - len(num[i][j])))
# Finally, convert the numerator to a 3-D array.
num = array(num)
# Remove trivial imaginary parts. Check for nontrivial imaginary parts.
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <kk...@us...> - 2011-02-08 22:19:45
|
Revision: 119
http://python-control.svn.sourceforge.net/python-control/?rev=119&view=rev
Author: kkchen
Date: 2011-02-08 22:19:39 +0000 (Tue, 08 Feb 2011)
Log Message:
-----------
Added rss-balred.py to /examples and bode now returns mag, phase, freq, with the option to supress plotting.
Lauren Padilla <lpa...@pr...>
Modified Paths:
--------------
branches/control-0.4a/examples/secord-matlab.py
branches/control-0.4a/src/freqplot.py
branches/control-0.4a/src/modelsimp.py
branches/control-0.4a/src/xferfcn.py
Added Paths:
-----------
branches/control-0.4a/examples/rss-balred.py
Added: branches/control-0.4a/examples/rss-balred.py
===================================================================
--- branches/control-0.4a/examples/rss-balred.py (rev 0)
+++ branches/control-0.4a/examples/rss-balred.py 2011-02-08 22:19:39 UTC (rev 119)
@@ -0,0 +1,44 @@
+#!/usr/bin/env python
+
+import numpy as np
+import control.modelsimp as msimp
+import control.matlab as mt
+from control.statesp import StateSpace
+import matplotlib.pyplot as plt
+
+plt.close('all')
+
+#controlable canonical realization computed in matlab for the transfer function:
+# num = [1 11 45 32], den = [1 15 60 200 60]
+A = np.matrix('-15., -7.5, -6.25, -1.875; \
+8., 0., 0., 0.; \
+0., 4., 0., 0.; \
+0., 0., 1., 0.')
+B = np.matrix('2.; 0.; 0.; 0.')
+C = np.matrix('0.5, 0.6875, 0.7031, 0.5')
+D = np.matrix('0.')
+
+# The full system
+fsys = StateSpace(A,B,C,D)
+# The reduced system, truncating the order by 1
+ord = 3
+rsys = msimp.balred(fsys,ord, method = 'truncate')
+
+# Comparison of the step responses of the full and reduced systems
+plt.figure(1)
+t, y = mt.step(fsys)
+tr, yr = mt.step(rsys)
+plt.plot(t.T, y.T)
+plt.hold(True)
+plt.plot(tr.T, yr.T)
+
+# Repeat balanced reduction, now with 100-dimensional random state space
+sysrand = mt.rss(100, 1, 1)
+rsysrand = msimp.balred(sysrand,10,method ='truncate')
+
+# Comparison of the impulse responses of the full and reduced random systems
+plt.figure(2)
+trand, yrand = mt.impulse(sysrand)
+trandr, yrandr = mt.impulse(rsysrand)
+plt.plot(trand.T, yrand.T,trandr.T, yrandr.T)
+
Property changes on: branches/control-0.4a/examples/rss-balred.py
___________________________________________________________________
Added: svn:executable
+ *
Modified: branches/control-0.4a/examples/secord-matlab.py
===================================================================
--- branches/control-0.4a/examples/secord-matlab.py 2011-02-08 22:19:33 UTC (rev 118)
+++ branches/control-0.4a/examples/secord-matlab.py 2011-02-08 22:19:39 UTC (rev 119)
@@ -22,7 +22,7 @@
# Bode plot for the system
figure(2)
-bode(sys, logspace(-2, 2))
+mag,phase,om = bode(sys, logspace(-2, 2),Plot=True)
# Nyquist plot for the system
figure(3)
Modified: branches/control-0.4a/src/freqplot.py
===================================================================
--- branches/control-0.4a/src/freqplot.py 2011-02-08 22:19:33 UTC (rev 118)
+++ branches/control-0.4a/src/freqplot.py 2011-02-08 22:19:39 UTC (rev 119)
@@ -54,12 +54,12 @@
#
# Bode plot
-def bode(syslist, omega=None, dB=False, Hz=False, color=None):
+def bode(syslist, omega=None, dB=False, Hz=False, color=None, Plot=True):
"""Bode plot for a system
Usage
=====
- (magh, phaseh) = bode(syslist, omega=None, dB=False, Hz=False)
+ (magh, phaseh, omega) = bode(syslist, omega=None, dB=False, Hz=False, color=None, Plot=True)
Plots a Bode plot for the system over a (optional) frequency range.
@@ -73,16 +73,18 @@
If True, plot result in dB
Hz : boolean
If True, plot frequency in Hz (omega must be provided in rad/sec)
+ Plot : boolean
+ If True, plot magnitude and phase
Return values
-------------
- magh : graphics handle to magnitude plot (for rescaling, etc)
- phaseh : graphics handle to phase plot
+ magh : magnitude array
+ phaseh : phase array
+ omega : frequency array
Notes
-----
- 1. Use (mag, phase, freq) = sys.freqresp(freq) to generate the
- frequency response for a system.
+ 1. Alternatively, may use (mag, phase, freq) = sys.freqresp(freq) to generate the frequency response for a system.
"""
# If argument was a singleton, turn it into a list
if (not getattr(syslist, '__iter__', False)):
@@ -108,46 +110,47 @@
# Get the dimensions of the current axis, which we will divide up
#! TODO: Not current implemented; just use subplot for now
- # Magnitude plot
- plt.subplot(211);
- if dB:
- if color==None:
- plt.semilogx(omega, mag)
+ if (Plot):
+ # Magnitude plot
+ plt.subplot(211);
+ if dB:
+ if color==None:
+ plt.semilogx(omega, mag)
+ else:
+ plt.semilogx(omega, mag, color=color)
+ plt.ylabel("Magnitude (dB)")
else:
- plt.semilogx(omega, mag, color=color)
- plt.ylabel("Magnitude (dB)")
- else:
- if color==None:
- plt.loglog(omega, mag)
- else:
- plt.loglog(omega, mag, color=color)
- plt.ylabel("Magnitude")
+ if color==None:
+ plt.loglog(omega, mag)
+ else:
+ plt.loglog(omega, mag, color=color)
+ plt.ylabel("Magnitude")
- # Add a grid to the plot
- plt.grid(True)
- plt.grid(True, which='minor')
- plt.hold(True);
+ # Add a grid to the plot
+ plt.grid(True)
+ plt.grid(True, which='minor')
+ plt.hold(True);
- # Phase plot
- plt.subplot(212);
- if color==None:
- plt.semilogx(omega, phase)
- else:
- plt.semilogx(omega, phase, color=color)
- plt.hold(True)
+ # Phase plot
+ plt.subplot(212);
+ if color==None:
+ plt.semilogx(omega, phase)
+ else:
+ plt.semilogx(omega, phase, color=color)
+ plt.hold(True)
- # Add a grid to the plot
- plt.grid(True)
- plt.grid(True, which='minor')
- plt.ylabel("Phase (deg)")
+ # Add a grid to the plot
+ plt.grid(True)
+ plt.grid(True, which='minor')
+ plt.ylabel("Phase (deg)")
- # Label the frequency axis
- if Hz:
- plt.xlabel("Frequency (Hz)")
- else:
- plt.xlabel("Frequency (rad/sec)")
+ # Label the frequency axis
+ if Hz:
+ plt.xlabel("Frequency (Hz)")
+ else:
+ plt.xlabel("Frequency (rad/sec)")
- return (211, 212)
+ return mag, phase, omega
# Nyquist plot
def nyquist(syslist, omega=None):
Modified: branches/control-0.4a/src/modelsimp.py
===================================================================
--- branches/control-0.4a/src/modelsimp.py 2011-02-08 22:19:33 UTC (rev 118)
+++ branches/control-0.4a/src/modelsimp.py 2011-02-08 22:19:39 UTC (rev 119)
@@ -207,6 +207,8 @@
#Check system is stable
D,V = np.linalg.eig(sys.A)
+ print D.shape
+ print D
for e in D:
if e.real >= 0:
raise ValueError, "Oops, the system is unstable!"
Modified: branches/control-0.4a/src/xferfcn.py
===================================================================
--- branches/control-0.4a/src/xferfcn.py 2011-02-08 22:19:33 UTC (rev 118)
+++ branches/control-0.4a/src/xferfcn.py 2011-02-08 22:19:39 UTC (rev 119)
@@ -710,7 +710,8 @@
num[i][j] = list(tfout[6][i, j, :])
# Each transfer function matrix row has a common denominator.
den[i][j] = list(tfout[5][i, :])
-
+ print num
+ print den
return TransferFunction(num, den)
elif isinstance(sys, (int, long, float, complex)):
if "inputs" in kw:
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <kk...@us...> - 2011-02-08 23:04:52
|
Revision: 124
http://python-control.svn.sourceforge.net/python-control/?rev=124&view=rev
Author: kkchen
Date: 2011-02-08 23:04:46 +0000 (Tue, 08 Feb 2011)
Log Message:
-----------
Removed .hgignore; set some svn:ignore properties.
Removed Paths:
-------------
.hgignore
Property Changed:
----------------
/
branches/control-0.4a/
branches/control-0.4a/build/
branches/control-0.4a/doc/
branches/control-0.4a/src/
Property changes on:
___________________________________________________________________
Added: svn:ignore
+ .DS_Store
Deleted: .hgignore
===================================================================
--- .hgignore 2011-02-08 22:19:58 UTC (rev 123)
+++ .hgignore 2011-02-08 23:04:46 UTC (rev 124)
@@ -1,17 +0,0 @@
-
-# Automatically generated by `hgimportsvn`
-syntax:glob
-.svn
-.hgsvn
-
-# These lines are suggested according to the svn:ignore property
-# Feel free to enable them by uncommenting them
-syntax:glob
-
-.DS_Store
-.*.swp
-build/*
-doc/_build/*
-doc/_templates/*
-doc/_static/*
-*.pyc
Property changes on: branches/control-0.4a
___________________________________________________________________
Added: svn:ignore
+ build/
Property changes on: branches/control-0.4a/build
___________________________________________________________________
Added: svn:ignore
+ *
Property changes on: branches/control-0.4a/doc
___________________________________________________________________
Added: svn:ignore
+ _build/
_templates/
_static/
Property changes on: branches/control-0.4a/src
___________________________________________________________________
Added: svn:ignore
+ *.pyc
.*.swp
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <kk...@us...> - 2011-02-09 16:08:28
|
Revision: 125
http://python-control.svn.sourceforge.net/python-control/?rev=125&view=rev
Author: kkchen
Date: 2011-02-09 16:08:17 +0000 (Wed, 09 Feb 2011)
Log Message:
-----------
Removed build/* and some other stuff from version control.
Removed Paths:
-------------
branches/control-0.4a/MANIFEST.in
branches/control-0.4a/build/
Property Changed:
----------------
branches/control-0.4a/
branches/control-0.4a/doc/
Property changes on: branches/control-0.4a
___________________________________________________________________
Modified: svn:ignore
- build/
+ MANIFEST*
build
dist
Deleted: branches/control-0.4a/MANIFEST.in
===================================================================
--- branches/control-0.4a/MANIFEST.in 2011-02-08 23:04:46 UTC (rev 124)
+++ branches/control-0.4a/MANIFEST.in 2011-02-09 16:08:17 UTC (rev 125)
@@ -1,5 +0,0 @@
-include README
-include setup.py
-include src/*.py
-include examples/README examples/*.py
-prune examples/*-test.py
Property changes on: branches/control-0.4a/doc
___________________________________________________________________
Modified: svn:ignore
- _build/
_templates/
_static/
+ _build
_templates
_static
*.pdf
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <mur...@us...> - 2011-02-13 16:50:05
|
Revision: 134
http://python-control.svn.sourceforge.net/python-control/?rev=134&view=rev
Author: murrayrm
Date: 2011-02-13 16:49:58 +0000 (Sun, 13 Feb 2011)
Log Message:
-----------
Copied over latest changes from v0.3d:
* Added in latest nichols() code from Allan McInnes (including 13 Feb commits)
* Turned svn:keyword Id back on for source code files
* Set version number to 0.4a
Modified Paths:
--------------
branches/control-0.4a/ChangeLog
branches/control-0.4a/setup.py
branches/control-0.4a/src/__init__.py
branches/control-0.4a/src/bdalg.py
branches/control-0.4a/src/ctrlutil.py
branches/control-0.4a/src/delay.py
branches/control-0.4a/src/freqplot.py
branches/control-0.4a/src/matlab.py
branches/control-0.4a/src/rlocus.py
branches/control-0.4a/src/statesp.py
branches/control-0.4a/src/xferfcn.py
Added Paths:
-----------
branches/control-0.4a/examples/bdalg-matlab.py
branches/control-0.4a/examples/test-response.py
branches/control-0.4a/examples/test-statefbk.py
Property Changed:
----------------
branches/control-0.4a/src/__init__.py
branches/control-0.4a/src/bdalg.py
branches/control-0.4a/src/ctrlutil.py
branches/control-0.4a/src/delay.py
branches/control-0.4a/src/exception.py
branches/control-0.4a/src/freqplot.py
branches/control-0.4a/src/lti.py
branches/control-0.4a/src/matlab.py
branches/control-0.4a/src/modelsimp.py
branches/control-0.4a/src/pzmap.py
branches/control-0.4a/src/rlocus.py
branches/control-0.4a/src/robust.py
branches/control-0.4a/src/statefbk.py
branches/control-0.4a/src/statesp.py
branches/control-0.4a/src/test.py
branches/control-0.4a/src/xferfcn.py
Modified: branches/control-0.4a/ChangeLog
===================================================================
--- branches/control-0.4a/ChangeLog 2011-02-13 13:21:29 UTC (rev 133)
+++ branches/control-0.4a/ChangeLog 2011-02-13 16:49:58 UTC (rev 134)
@@ -1,3 +1,18 @@
+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
Copied: branches/control-0.4a/examples/bdalg-matlab.py (from rev 132, trunk/examples/bdalg-matlab.py)
===================================================================
--- branches/control-0.4a/examples/bdalg-matlab.py (rev 0)
+++ branches/control-0.4a/examples/bdalg-matlab.py 2011-02-13 16:49:58 UTC (rev 134)
@@ -0,0 +1,17 @@
+# bdalg-matlab.py - demonstrate some MATLAB commands for block diagram altebra
+# RMM, 29 May 09
+
+from control.matlab import * # MATLAB-like functions
+
+# System matrices
+A1 = [[0, 1.], [-4, -1]]
+B1 = [[0], [1.]]
+C1 = [[1., 0]]
+sys1ss = ss(A1, B1, C1, 0)
+sys1tf = ss2tf(sys1ss)
+
+sys2tf = tf([1, 0.5], [1, 5]);
+sys2ss = tf2ss(sys2tf);
+
+# Series composition
+series1 = sys1ss + sys2ss;
Copied: branches/control-0.4a/examples/test-response.py (from rev 132, trunk/examples/test-response.py)
===================================================================
--- branches/control-0.4a/examples/test-response.py (rev 0)
+++ branches/control-0.4a/examples/test-response.py 2011-02-13 16:49:58 UTC (rev 134)
@@ -0,0 +1,18 @@
+# test-response.py - Unit tests for system response functions
+# RMM, 11 Sep 2010
+
+from matplotlib.pyplot import * # Grab MATLAB plotting functions
+from control.matlab import * # Load the controls systems library
+from scipy import arange # function to create range of numbers
+
+# Create several systems for testing
+sys1 = tf([1], [1, 2, 1])
+sys2 = tf([1, 1], [1, 1, 0])
+
+# Generate step responses
+(T1a, y1a) = step(sys1)
+(T1b, y1b) = step(sys1, T = arange(0, 10, 0.1))
+(T1c, y1c) = step(sys1, X0 = [1, 0])
+(T2a, y2a) = step(sys2, T = arange(0, 10, 0.1))
+
+plot(T1a, y1a, T1b, y1b, T1c, y1c, T2a, y2a)
Copied: branches/control-0.4a/examples/test-statefbk.py (from rev 132, trunk/examples/test-statefbk.py)
===================================================================
--- branches/control-0.4a/examples/test-statefbk.py (rev 0)
+++ branches/control-0.4a/examples/test-statefbk.py 2011-02-13 16:49:58 UTC (rev 134)
@@ -0,0 +1,27 @@
+# test-statefbk.py - Unit tests for state feedback code
+# RMM, 6 Sep 2010
+
+import numpy as np # Numerical library
+from scipy import * # Load the scipy functions
+from control.matlab import * # Load the controls systems library
+
+# Parameters defining the system
+m = 250.0 # system mass
+k = 40.0 # spring constant
+b = 60.0 # damping constant
+
+# System matrices
+A = matrix([[1, -1, 1.], [1, -k/m, -b/m], [1, 1, 1]])
+B = matrix([[0], [1/m], [1]])
+C = matrix([[1., 0, 1.]])
+sys = ss(A, B, C, 0);
+
+# Controllability
+Wc = ctrb(A, B)
+print "Wc = ", Wc
+
+# Observability
+Wo = obsv(A, C)
+print "Wo = ", Wo
+
+
Modified: branches/control-0.4a/setup.py
===================================================================
--- branches/control-0.4a/setup.py 2011-02-13 13:21:29 UTC (rev 133)
+++ branches/control-0.4a/setup.py 2011-02-13 16:49:58 UTC (rev 134)
@@ -3,7 +3,7 @@
from distutils.core import setup
setup(name='control',
- version='0.3c',
+ version='0.4a',
description='Python Control Systems Library',
author='Richard Murray',
author_email='mu...@cd...',
Modified: branches/control-0.4a/src/__init__.py
===================================================================
--- branches/control-0.4a/src/__init__.py 2011-02-13 13:21:29 UTC (rev 133)
+++ branches/control-0.4a/src/__init__.py 2011-02-13 16:49:58 UTC (rev 134)
@@ -37,7 +37,7 @@
# OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
# SUCH DAMAGE.
#
-# $Id: __init__.py 29 2010-11-06 13:03:55Z murrayrm $
+# $Id$
"""Control System Library
Property changes on: branches/control-0.4a/src/__init__.py
___________________________________________________________________
Added: svn:keywords
+ Id
Modified: branches/control-0.4a/src/bdalg.py
===================================================================
--- branches/control-0.4a/src/bdalg.py 2011-02-13 13:21:29 UTC (rev 133)
+++ branches/control-0.4a/src/bdalg.py 2011-02-13 16:49:58 UTC (rev 134)
@@ -47,7 +47,7 @@
Date: 24 May 09
Revised: Kevin K. Chen, Dec 10
-$Id: bdalg.py 17 2010-05-29 23:50:52Z murrayrm $
+$Id$
"""
Property changes on: branches/control-0.4a/src/bdalg.py
___________________________________________________________________
Added: svn:keywords
+ Id
Modified: branches/control-0.4a/src/ctrlutil.py
===================================================================
--- branches/control-0.4a/src/ctrlutil.py 2011-02-13 13:21:29 UTC (rev 133)
+++ branches/control-0.4a/src/ctrlutil.py 2011-02-13 16:49:58 UTC (rev 134)
@@ -38,7 +38,7 @@
# OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
# SUCH DAMAGE.
#
-# $Id: ctrlutil.py 21 2010-06-06 17:29:42Z murrayrm $
+# $Id$
# Packages that we need access to
import scipy as sp
Property changes on: branches/control-0.4a/src/ctrlutil.py
___________________________________________________________________
Added: svn:keywords
+ Id
Modified: branches/control-0.4a/src/delay.py
===================================================================
--- branches/control-0.4a/src/delay.py 2011-02-13 13:21:29 UTC (rev 133)
+++ branches/control-0.4a/src/delay.py 2011-02-13 16:49:58 UTC (rev 134)
@@ -38,7 +38,7 @@
# OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
# SUCH DAMAGE.
#
-# $Id: pade.py 17 2010-05-29 23:50:52Z murrayrm $
+# $Id$
def pade(T, n=1):
"""
Property changes on: branches/control-0.4a/src/delay.py
___________________________________________________________________
Added: svn:keywords
+ Id
Property changes on: branches/control-0.4a/src/exception.py
___________________________________________________________________
Added: svn:keywords
+ Id
Modified: branches/control-0.4a/src/freqplot.py
===================================================================
--- branches/control-0.4a/src/freqplot.py 2011-02-13 13:21:29 UTC (rev 133)
+++ branches/control-0.4a/src/freqplot.py 2011-02-13 16:49:58 UTC (rev 134)
@@ -38,7 +38,7 @@
# OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
# SUCH DAMAGE.
#
-# $Id: freqplot.py 33 2010-11-26 21:59:57Z murrayrm $
+# $Id$
import matplotlib.pyplot as plt
import scipy as sp
@@ -212,16 +212,15 @@
plt.plot([-1], [0], 'r+')
return x, y, omega
-
# Nichols plot
# Contributed by Allan McInnes <All...@ca...>
#! TODO: need unit test code
-def nichols(syslist, omega=None, Plot=True):
+def nichols(syslist, omega=None):
"""Nichols plot for a system
Usage
=====
- mag, phase, freq = nichols(sys, omega=None, Plot=True)
+ magh = nichols(sys, omega=None)
Plots a Nichols plot for the system over a (optional) frequency range.
@@ -231,15 +230,10 @@
List of linear input/output systems (single system is OK)
omega : freq_range
Range of frequencies (list or bounds) in rad/sec
- Plot : boolean
- if True, plot the Nichols frequency response
Return values
-------------
- mag : array of magnitudes
- phase : array of phases
- freq : array of frequencies
-
+ None
"""
# If argument was a singleton, turn it into a list
@@ -250,35 +244,107 @@
if (omega == None):
omega = default_frequency_range(syslist)
-
for sys in syslist:
- if (sys.inputs > 1 or sys.outputs > 1):
- #TODO: Add MIMO nichols plots.
- raise NotImplementedError("Nichols is currently only implemented for SISO systems.")
- else:
- # Get the magnitude and phase of the system
- mag_tmp, phase_tmp, omega = sys.freqresp(omega)
- mag = np.squeeze(mag_tmp)
- phase = np.squeeze(phase_tmp)
-
- # Convert to Nichols-plot format (phase in degrees,
- # and magnitude in dB)
- x = unwrap(sp.degrees(phase), 360)
- y = 20*sp.log10(mag)
+ # Get the magnitude and phase of the system
+ mag, phase, omega = sys.freqresp(omega)
- if (Plot):
- # Generate the plot
- plt.plot(x, y)
+ # Convert to Nichols-plot format (phase in degrees,
+ # and magnitude in dB)
+ x = unwrap(sp.degrees(phase), 360)
+ y = 20*sp.log10(mag)
+
+ # Generate the plot
+ plt.plot(x, y)
- plt.xlabel('Phase (deg)')
- plt.ylabel('Magnitude (dB)')
- plt.title('Nichols Plot')
+ plt.xlabel('Phase (deg)')
+ plt.ylabel('Magnitude (dB)')
+ plt.title('Nichols Plot')
- # Mark the -180 point
- plt.plot([-180], [0], 'r+')
+ # Mark the -180 point
+ plt.plot([-180], [0], 'r+')
- return mag, phase, omega
+# Nichols grid
+def nichols_grid():
+ """Nichols chart grid
+
+ Usage
+ =====
+ nichols_grid()
+ Plots a Nichols chart grid on the current axis.
+
+ Parameters
+ ----------
+ None
+
+ Return values
+ -------------
+ None
+ """
+ mag_min_default = -40.0 # dB
+ mag_step = 20.0 # dB
+
+ # Chart defaults
+ phase_min, phase_max, mag_min, mag_max = -360.0, 0.0, mag_min_default, 40.0
+
+ # Set actual chart bounds based on current plot
+ if plt.gcf().gca().has_data():
+ phase_min, phase_max, mag_min, mag_max = plt.axis()
+
+ # M-circle magnitudes.
+ # The "fixed" set are always generated, since this guarantees a recognizable
+ # Nichols chart grid.
+ mags_fixed = np.array([-40.0, -20.0, -12.0, -6.0, -3.0, -1.0, -0.5, 0.0,
+ 0.25, 0.5, 1.0, 3.0, 6.0, 12.0])
+
+ if mag_min < mag_min_default:
+ # Outside the "fixed" set of magnitudes, the generated M-circles
+ # are extended in steps of 'mag_step' dB to cover anything made
+ # visible by the range of the existing plot
+ mags_adjust = np.arange(mag_step*np.floor(mag_min/mag_step),
+ mag_min_default, mag_step)
+ mags = np.concatenate((mags_adjust, mags_fixed))
+ else:
+ mags = mags_fixed
+
+ # N-circle phases (should be in the range -360 to 0)
+ phases = np.array([-0.25, -10.0, -20.0, -30.0, -45.0, -60.0, -90.0,
+ -120.0, -150.0, -180.0, -210.0, -240.0, -270.0,
+ -310.0, -325.0, -340.0, -350.0, -359.75])
+
+ # Find the M-contours
+ m = m_circles(mags, phase_min=np.min(phases), phase_max=np.max(phases))
+ m_mag = 20*sp.log10(np.abs(m))
+ m_phase = sp.mod(sp.degrees(sp.angle(m)), -360.0) # Unwrap
+
+ # Find the N-contours
+ n = n_circles(phases, mag_min=np.min(mags), mag_max=np.max(mags))
+ n_mag = 20*sp.log10(np.abs(n))
+ n_phase = sp.mod(sp.degrees(sp.angle(n)), -360.0) # Unwrap
+
+ # Plot the contours behind other plot elements.
+ # The "phase offset" is used to produce copies of the chart that cover
+ # the entire range of the plotted data, starting from a base chart computed
+ # over the range -360 < phase < 0 (see above). Given the range
+ # the base chart is computed over, the phase offset should be 0
+ # for -360 < phase_min < 0.
+ phase_offset_min = 360.0*np.ceil(phase_min/360.0)
+ phase_offset_max = 360.0*np.ceil(phase_max/360.0) + 360.0
+ phase_offsets = np.arange(phase_offset_min, phase_offset_max, 360.0)
+ for phase_offset in phase_offsets:
+ plt.plot(m_phase + phase_offset, m_mag, color='gray',
+ linestyle='dashed', zorder=0)
+ plt.plot(n_phase + phase_offset, n_mag, color='gray',
+ linestyle='dashed', zorder=0)
+
+ # Add magnitude labels
+ for x, y, m in zip(m_phase[:][-1], m_mag[:][-1], mags):
+ align = 'right' if m < 0.0 else 'left'
+ plt.text(x, y, str(m) + ' dB', size='small', ha=align)
+
+ # Make sure axes conform to any pre-existing plot.
+ plt.axis([phase_min, phase_max, mag_min, mag_max])
+
# Gang of Four
#! TODO: think about how (and whether) to handle lists of systems
def gangof4(P, C, omega=None):
@@ -395,3 +461,85 @@
np.ceil(np.max(features))+1)
return omega
+
+# Compute contours of a closed-loop transfer function
+def closed_loop_contours(Hmag, Hphase):
+ """Contours of the function H = G/(1+G).
+
+ Usage
+ =====
+ contours = closed_loop_contours(mags, phases)
+
+ Parameters
+ ----------
+ mags : array-like
+ Meshgrid array of magnitudes of the contours
+ phases : array-like
+ Meshgrid array of phases in radians of the contours
+
+ Return values
+ -------------
+ contours : complex array
+ Array of complex numbers corresponding to the contours.
+ """
+ # Compute the contours in H-space
+ H = Hmag*sp.exp(1.j*Hphase)
+
+ # Invert H = G/(1+G) to get an expression for the contours in G-space
+ return H/(1.0 - H)
+
+# M-circle
+def m_circles(mags, phase_min=-359.75, phase_max=-0.25):
+ """Constant-magnitude contours of the function H = G/(1+G).
+
+ Usage
+ =====
+ contours = m_circles(mags)
+
+ Parameters
+ ----------
+ mags : array-like
+ Array of magnitudes in dB of the M-circles
+ phase_min : degrees
+ Minimum phase in degrees of the N-circles
+ phase_max : degrees
+ Maximum phase in degrees of the N-circles
+
+ Return values
+ -------------
+ contours : complex array
+ Array of complex numbers corresponding to the contours.
+ """
+ # Convert magnitudes and phase range into a grid suitable for
+ # building contours
+ phases = sp.radians(sp.linspace(phase_min, phase_max, 500))
+ Hmag, Hphase = sp.meshgrid(10.0**(mags/20.0), phases)
+ return closed_loop_contours(Hmag, Hphase)
+
+# N-circle
+def n_circles(phases, mag_min=-40.0, mag_max=12.0):
+ """Constant-phase contours of the function H = G/(1+G).
+
+ Usage
+ =====
+ contour = n_circles(angles)
+
+ Parameters
+ ----------
+ phases : array-like
+ Array of phases in degrees of the N-circles
+ mag_min : dB
+ Minimum magnitude in dB of the N-circles
+ mag_max : dB
+ Maximum magnitude in dB of the N-circles
+
+ Return values
+ -------------
+ contours : complex array
+ Array of complex numbers corresponding to the contours.
+ """
+ # Convert phases and magnitude range into a grid suitable for
+ # building contours
+ mags = sp.linspace(10**(mag_min/20.0), 10**(mag_max/20.0), 2000)
+ Hphase, Hmag = sp.meshgrid(sp.radians(phases), mags)
+ return closed_loop_contours(Hmag, Hphase)
Property changes on: branches/control-0.4a/src/freqplot.py
___________________________________________________________________
Added: svn:keywords
+ Id
Property changes on: branches/control-0.4a/src/lti.py
___________________________________________________________________
Added: svn:keywords
+ Id
Modified: branches/control-0.4a/src/matlab.py
===================================================================
--- branches/control-0.4a/src/matlab.py 2011-02-13 13:21:29 UTC (rev 133)
+++ branches/control-0.4a/src/matlab.py 2011-02-13 16:49:58 UTC (rev 134)
@@ -51,7 +51,7 @@
Date: 29 May 09
Revised: Kevin K. Chen, Dec 10
-$Id: matlab.py 33 2010-11-26 21:59:57Z murrayrm $
+$Id$
"""
@@ -744,6 +744,16 @@
# Call the bode command
return freqplot.bode(syslist, omega, **keywords)
+# Nichols chart grid
+def ngrid():
+ """Nichols chart grid.
+
+ Usage
+ =====
+ ngrid()
+ """
+ freqplot.nichols_grid()
+
#
# Modifications to scipy.signal functions
#
Property changes on: branches/control-0.4a/src/matlab.py
___________________________________________________________________
Added: svn:keywords
+ Id
Property changes on: branches/control-0.4a/src/modelsimp.py
___________________________________________________________________
Added: svn:keywords
+ Id
Property changes on: branches/control-0.4a/src/pzmap.py
___________________________________________________________________
Added: svn:keywords
+ Id
Modified: branches/control-0.4a/src/rlocus.py
===================================================================
--- branches/control-0.4a/src/rlocus.py 2011-02-13 13:21:29 UTC (rev 133)
+++ branches/control-0.4a/src/rlocus.py 2011-02-13 16:49:58 UTC (rev 134)
@@ -40,7 +40,7 @@
# or a controls.TransferFunction object.
# * Added some comments to make sure I understand the code
#
-# $Id: rlocus.py 29 2010-11-06 13:03:55Z murrayrm $
+# $Id$
# Packages used by this module
from scipy import *
Property changes on: branches/control-0.4a/src/rlocus.py
___________________________________________________________________
Added: svn:keywords
+ Id
Property changes on: branches/control-0.4a/src/robust.py
___________________________________________________________________
Added: svn:keywords
+ Id
Property changes on: branches/control-0.4a/src/statefbk.py
___________________________________________________________________
Added: svn:keywords
+ Id
Modified: branches/control-0.4a/src/statesp.py
===================================================================
--- branches/control-0.4a/src/statesp.py 2011-02-13 13:21:29 UTC (rev 133)
+++ branches/control-0.4a/src/statesp.py 2011-02-13 16:49:58 UTC (rev 134)
@@ -68,7 +68,7 @@
Date: 24 May 09
Revised: Kevin K. Chen, Dec 10
-$Id: statepy 21 2010-06-06 17:29:42Z murrayrm $
+$Id$
"""
Property changes on: branches/control-0.4a/src/statesp.py
___________________________________________________________________
Added: svn:keywords
+ Id
Property changes on: branches/control-0.4a/src/test.py
___________________________________________________________________
Added: svn:keywords
+ Id
Modified: branches/control-0.4a/src/xferfcn.py
===================================================================
--- branches/control-0.4a/src/xferfcn.py 2011-02-13 13:21:29 UTC (rev 133)
+++ branches/control-0.4a/src/xferfcn.py 2011-02-13 16:49:58 UTC (rev 134)
@@ -70,7 +70,7 @@
Date: 24 May 09
Revised: Kevin K. Chewn, Dec 10
-$Id: xferfcn.py 21 2010-06-06 17:29:42Z murrayrm $
+$Id$
"""
Property changes on: branches/control-0.4a/src/xferfcn.py
___________________________________________________________________
Added: svn:keywords
+ Id
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