Changes in preparation for using v0.4 as trunk:

murrayrm · murrayrm · commit 55df572fae38 · 2011-04-02T18:13:23.000Z
* Added missing MATLAB compatible functions for module reduction
* Turned off print statements in unit tests (turn back on using verbose flag)
* Removed bug warnings from conversion routines; posted open bug to Pending
* Updated examples/pvtol-nested-ss to reflect interface changes
* See ChangeLog for a detailed list of changes
diff --git a/ChangeLog b/ChangeLog
@@ -1,5 +1,31 @@
 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.
 
diff --git a/Pending b/Pending
@@ -10,9 +10,9 @@ picture" things that need to be done.
 
 OPEN BUGS
   * matlab.step() doesn't handle systems with a pole at the origin (use lsim2)
-  * tests/convert_test.py not working yet
-  * tests/test_all.py should report on failed tests
-  * tests/freqresp.py needs to be converted to unit test
+  * TF <-> SS transformations are buggy; see tests/convert_test.py
+  * hsvd returns different value than MATLAB (2010a); see modelsimp_test.py
+  * MIMO common denominator fails unit test; see convert_test.py
 
 Transfer code from Roberto Bucher's yottalab to python-control
   acker       - pole placement using Ackermann method
@@ -40,6 +40,9 @@ Examples and test cases
   * Put together unit tests for all functions (after deciding on framework)
   * Figure out how to import 'figure' command properly (version issue?)
   * Figure out source of BadCoefficients warning messages (pvtol-lqr and others)
+  * tests/test_all.py should report on failed tests
+  * tests/freqresp.py needs to be converted to unit test
+  * Convert examples/test-{response,statefbk}.py to unit tests
 
 TransferFunction class fixes
   * evalfr is not working (num, den stored as ndarrays, not poly1ds)
diff --git a/examples/pvtol-nested-ss.py b/examples/pvtol-nested-ss.py
@@ -95,21 +95,21 @@
 # (gm, pm, wgc, wpc) = margin(L); 
 
 figure(6); clf; subplot(221);
-(magh, phaseh) = bode(L);
+bode(L, logspace(-4, 3));
 
 # Add crossover line
-subplot(magh); hold(True);
-loglog([10^-4, 10^3], [1, 1], 'k-')
+subplot(211); hold(True);
+loglog([1e-4, 1e3], [1, 1], 'k-')
 
 # Replot phase starting at -90 degrees
-bode(L, logspace(-4, 3));
 (mag, phase, w) = freqresp(L, logspace(-4, 3));
 phase = phase - 360;
-subplot(phaseh);
-semilogx([10^-4, 10^3], [-180, -180], 'k-')
+
+subplot(212);
+semilogx([1e-4, 1e3], [-180, -180], 'k-')
 hold(True);
 semilogx(w, np.squeeze(phase), 'b-')
-axis([10^-4, 10^3, -360, 0]);
+axis([1e-4, 1e3, -360, 0]);
 xlabel('Frequency [deg]'); ylabel('Phase [deg]');
 # set(gca, 'YTick', [-360, -270, -180, -90, 0]);
 # set(gca, 'XTick', [10^-4, 10^-2, 1, 100]);
@@ -152,8 +152,8 @@
 
 #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();
diff --git a/src/__init__.py b/src/__init__.py
@@ -63,5 +63,4 @@
 from bdalg import *
 from statefbk import *
 from delay import *
-
-from test import *
+from modelsimp import *
diff --git a/src/matlab.py b/src/matlab.py
@@ -80,6 +80,7 @@
 from pzmap import pzmap
 from statefbk import ctrb, obsv, gram, place, lqr
 from delay import pade
+from modelsimp import hsvd, balred, modred
 
 __doc__ += """
 The control.matlab module defines functions that are roughly the
@@ -139,9 +140,9 @@
    lti/bandwidth  - system bandwidth
    lti/norm       - h2 and Hinfinity norms of LTI models
 \*  lti/pole       - system poles
-   lti/zero       - system (transmission) zeros
+\*  lti/zero       - system (transmission) zeros
    lti/order      - model order (number of states)
-\*  pzmap          - pole-zero map
+\*  pzmap          - pole-zero map (TF only)
    lti/iopzmap    - input/output pole-zero map
    damp           - natural frequency and damping of system poles
    esort          - sort continuous poles by real part
@@ -173,19 +174,20 @@
 Model simplification
    minreal        - minimal realization and pole/zero cancellation
    ss/sminreal    - structurally minimal realization (state space)
-   lti/hsvd       - hankel singular values (state contributions)
-   lti/balred     - reduced-order approximations of LTI models
-   ss/modred      - model order reduction
+\*  lti/hsvd       - hankel singular values (state contributions)
+\*  lti/balred     - reduced-order approximations of LTI models
+\*  ss/modred      - model order reduction
  
 Compensator design
    rlocus         - evans root locus
-   place          - pole placement
+\*  place          - pole placement
    estim          - form estimator given estimator gain
    reg            - form regulator given state-feedback and estimator gains
  
 LQR/LQG design
    ss/lqg         - single-step LQG design
-   lqr, dlqr      - linear-Quadratic (LQ) state-feedback regulator
+\*  lqr            - linear-Quadratic (LQ) state-feedback regulator
+\*  dlqr           - discrete-time LQ state-feedback regulator
    lqry           - lq regulator with output weighting
    lqrd           - discrete LQ regulator for continuous plant
    ss/lqi         - linear-Quadratic-Integral (LQI) controller
diff --git a/src/modelsimp.py b/src/modelsimp.py
@@ -84,7 +84,7 @@ def hsvd(sys):
     # Return the Hankel singular values
     return hsv
 
-def modred(sys,ELIM,method):
+def modred(sys,ELIM,method='matchdc'):
     """Model reduction of sys by eliminating the states in ELIM using a given method
 
     Parameters
@@ -207,8 +207,8 @@ def balred(sys,orders,method='truncate'):
 
     #Check system is stable
     D,V = np.linalg.eig(sys.A)
-    print D.shape
-    print D
+    # print D.shape
+    # print D
     for e in D:
         if e.real >= 0:
             raise ValueError, "Oops, the system is unstable!"
diff --git a/src/statesp.py b/src/statesp.py
@@ -469,8 +469,6 @@ def _convertToStateSpace(sys, **kw):
         # Repeat the common denominator along the rows.
         den = array([den for i in range(sys.outputs)])
         # TODO: transfer function to state space conversion is still buggy!
-        print "Warning: transfer function to state space conversion by td04ad \
-is still buggy! Advise converting state space sys back to tf to verify the transformation was correct."
         #print num
         #print shape(num)
         ssout = td04ad('R',sys.inputs, sys.outputs, index, den, num,tol=0.0)
diff --git a/src/xferfcn.py b/src/xferfcn.py
@@ -713,8 +713,6 @@ def _convertToTransferFunction(sys, **kw):
 
         # Use Slycot to make the transformation.  TODO: this is still somewhat
         # buggy!
-        print "Warning: state space to transfer function conversion by tb04ad \
-is still buggy!"
         tfout = tb04ad(sys.states, sys.inputs, sys.outputs, sys.A, sys.B, sys.C,
             sys.D,tol1=0.0)
 
@@ -727,8 +725,8 @@ def _convertToTransferFunction(sys, **kw):
                 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
+        # print num
+        # print den
         return TransferFunction(num, den)
     elif isinstance(sys, (int, long, float, complex)):
         if "inputs" in kw:
diff --git a/tests/convert_test.py b/tests/convert_test.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python
 
-"""TestConvert.py
+"""convert_test.py
 
 Test state space and transfer function conversion.
 
@@ -40,7 +40,7 @@ def printSys(self, sys, ind):
             print "sys%i:\n" % ind
             print sys
 
-    def testConvert(self):
+    def testConvert(self, verbose=0):
         """Test state space to transfer function conversion."""
         #Currently it only tests that a TF->SS->TF generates an unchanged TF
         
@@ -52,16 +52,20 @@ def testConvert(self):
                     #start with a random SS system and transform to TF
                     #then back to SS, check that the matrices are the same.
                     ssOriginal = matlab.rss(states, inputs, outputs)
-                    self.printSys(ssOriginal, 1)
+                    if (verbose):
+                        self.printSys(ssOriginal, 1)
 
                     tfOriginal = matlab.tf(ssOriginal)
-                    self.printSys(tfOriginal, 2)
+                    if (verbose):
+                        self.printSys(tfOriginal, 2)
                     
                     ssTransformed = matlab.ss(tfOriginal)
-                    self.printSys(ssTransformed, 3)
+                    if (verbose):
+                        self.printSys(ssTransformed, 3)
 
                     tfTransformed = matlab.tf(ssTransformed)
-                    self.printSys(tfTransformed, 4)
+                    if (verbose):
+                        self.printSys(tfTransformed, 4)
                     
                     for inputNum in range(inputs):
                         for outputNum in range(outputs):
@@ -81,8 +85,6 @@ def testConvert(self):
                     #[mag,phase,freq]=bode(sys)
                     #it doesn't seem to......
                     #This should be added.
-                    
-                    
 
 def suite():
    return unittest.TestLoader().loadTestsFromTestCase(TestConvert)
diff --git a/tests/modelsimp_test.py b/tests/modelsimp_test.py
@@ -16,7 +16,7 @@ def testHSVD(self):
         D = np.matrix("9.")
         sys = ss(A,B,C,D)
         hsv = hsvd(sys)
-        hsvtrue = np.matrix("24.42686 0.5731395")
+        hsvtrue = np.matrix("24.42686 0.5731395") # from MATLAB
         np.testing.assert_array_almost_equal(hsv, hsvtrue)
 
     def testMarkov(self):
diff --git a/tests/slycot_convert_test.py b/tests/slycot_convert_test.py
@@ -26,22 +26,21 @@ def setUp(self):
         self.maxI = 1 
         self.maxO = 1
 
-    def testTF(self):
+    def testTF(self, verbose=False):
         """ Directly tests the functions tb04ad and td04ad through direct comparison of transfer function coefficients.
-            Similar to TestConvert, but tests at a lower level.
+            Similar to convert_test, but tests at a lower level.
         """
         for states in range(1, self.maxStates):
             for inputs in range(1, self.maxI+1):
                 for outputs in range(1, self.maxO+1):
                     for testNum in range(self.numTests):
-                        
                         ssOriginal = matlab.rss(states, inputs, outputs)
-                        
-                        print '====== Original SS =========='
-                        print ssOriginal
-                        print 'states=',states
-                        print 'inputs=',inputs
-                        print 'outputs=',outputs
+                        if (verbose):
+                            print '====== Original SS =========='
+                            print ssOriginal
+                            print 'states=',states
+                            print 'inputs=',inputs
+                            print 'outputs=',outputs
                         
                         
                         tfOriginal_Actrb, tfOriginal_Bctrb, tfOriginal_Cctrb, tfOrigingal_nctrb, tfOriginal_index,\
@@ -55,15 +54,16 @@ def testTF(self):
                             tfTransformed_index, tfTransformed_dcoeff, tfTransformed_ucoeff = tb04ad(ssTransformed_nr,\
                             inputs,outputs,ssTransformed_A, ssTransformed_B, ssTransformed_C,ssTransformed_D,tol1=0.0)
                         #print 'size(Trans_A)=',ssTransformed_A.shape
-                        print '===== Transformed SS =========='
-                        print matlab.ss(ssTransformed_A, ssTransformed_B, ssTransformed_C, ssTransformed_D)
-                        #print 'Trans_nr=',ssTransformed_nr                      
-                        #print 'tfOrig_index=',tfOriginal_index
-                        #print 'tfOrig_ucoeff=',tfOriginal_ucoeff
-                        #print 'tfOrig_dcoeff=',tfOriginal_dcoeff
-                        #print 'tfTrans_index=',tfTransformed_index
-                        #print 'tfTrans_ucoeff=',tfTransformed_ucoeff
-                        #print 'tfTrans_dcoeff=',tfTransformed_dcoeff
+                        if (verbose):
+                            print '===== Transformed SS =========='
+                            print matlab.ss(ssTransformed_A, ssTransformed_B, ssTransformed_C, ssTransformed_D)
+                            # print 'Trans_nr=',ssTransformed_nr                      
+                            # print 'tfOrig_index=',tfOriginal_index
+                            # print 'tfOrig_ucoeff=',tfOriginal_ucoeff
+                            # print 'tfOrig_dcoeff=',tfOriginal_dcoeff
+                            # print 'tfTrans_index=',tfTransformed_index
+                            # print 'tfTrans_ucoeff=',tfTransformed_ucoeff
+                            # print 'tfTrans_dcoeff=',tfTransformed_dcoeff
                        #Compare the TF directly, must match
                         #numerators
                         np.testing.assert_array_almost_equal(tfOriginal_ucoeff,tfTransformed_ucoeff,decimal=3)
diff --git a/tests/test_all.py b/tests/test_all.py
@@ -7,7 +7,7 @@
 import re                       # regular expressions
 import os                       # operating system commands
 
-def test_all(verbosity=2):
+def test_all(verbosity=0):
     """ Runs all tests written for python-control.
     """
     try:                      # autodiscovery (python 2.7+)
