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murrayrmmurrayrm
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Merge pull request #119 from kayarre/master
Make output of time response commands consistent across step_response, impulse_response, initial_response and update matlab version of the functions to return arguments in the same order as MATLAB.
2 parents fd5df69 + a88d4a0 commit 1953399

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4 files changed

+87
-12
lines changed

4 files changed

+87
-12
lines changed

‎control/matlab/timeresp.py

Lines changed: 31 additions & 10 deletions
Original file line numberDiff line numberDiff line change
@@ -40,12 +40,12 @@ def step(sys, T=None, X0=0., input=0, output=None, return_x=False):
4040
yout: array
4141
Response of the system
4242
43-
xout: array (if selected)
44-
Individual response of each x variable
45-
4643
T: array
4744
Time values of the output
4845
46+
xout: array (if selected)
47+
Individual response of each x variable
48+
4949
5050
5151
See Also
@@ -62,11 +62,11 @@ def step(sys, T=None, X0=0., input=0, output=None, return_x=False):
6262
transpose = True, return_x=True)
6363

6464
if return_x:
65-
return yout, xout, T
65+
return yout, T, xout
6666

6767
return yout, T
6868

69-
def impulse(sys, T=None, input=0, output=None):
69+
def impulse(sys, T=None, X0=0., input=0, output=None, return_x=False):
7070
'''
7171
Impulse response of a linear system
7272
@@ -84,6 +84,11 @@ def impulse(sys, T=None, input=0, output=None):
8484
T: array-like object, optional
8585
Time vector (argument is autocomputed if not given)
8686
87+
X0: array-like or number, optional
88+
Initial condition (default = 0)
89+
90+
Numbers are converted to constant arrays with the correct shape.
91+
8792
input: int
8893
Index of the input that will be used in this simulation.
8994
@@ -94,9 +99,13 @@ def impulse(sys, T=None, input=0, output=None):
9499
-------
95100
yout: array
96101
Response of the system
102+
97103
T: array
98104
Time values of the output
99105
106+
xout: array (if selected)
107+
Individual response of each x variable
108+
100109
See Also
101110
--------
102111
lsim, step, initial
@@ -106,11 +115,15 @@ def impulse(sys, T=None, input=0, output=None):
106115
>>> yout, T = impulse(sys, T)
107116
'''
108117
from ..timeresp import impulse_response
109-
T, yout = impulse_response(sys, T, 0, input, output,
110-
transpose = True)
118+
T, yout, xout = impulse_response(sys, T, X0, input, output,
119+
transpose = True, return_x=True)
120+
121+
if return_x:
122+
return yout, T, xout
123+
111124
return yout, T
112125

113-
def initial(sys, T=None, X0=0., input=None, output=None):
126+
def initial(sys, T=None, X0=0., input=None, output=None, return_x=False):
114127
'''
115128
Initial condition response of a linear system
116129
@@ -142,9 +155,13 @@ def initial(sys, T=None, X0=0., input=None, output=None):
142155
-------
143156
yout: array
144157
Response of the system
158+
145159
T: array
146160
Time values of the output
147161
162+
xout: array (if selected)
163+
Individual response of each x variable
164+
148165
See Also
149166
--------
150167
lsim, step, impulse
@@ -155,8 +172,12 @@ def initial(sys, T=None, X0=0., input=None, output=None):
155172
156173
'''
157174
from ..timeresp import initial_response
158-
T, yout = initial_response(sys, T, X0, output=output,
159-
transpose=True)
175+
T, yout, xout = initial_response(sys, T, X0, output=output,
176+
transpose=True, return_x=True)
177+
178+
if return_x:
179+
return yout, T, xout
180+
160181
return yout, T
161182

162183
def lsim(sys, U=0., T=None, X0=0.):

‎control/tests/matlab_test.py

Lines changed: 23 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -161,6 +161,10 @@ def testStep(self):
161161
np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
162162
np.testing.assert_array_almost_equal(tout, t)
163163

164+
yout, tout, xout = step(sys, T=t, X0=0, return_x=True)
165+
np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
166+
np.testing.assert_array_almost_equal(tout, t)
167+
164168
#Test MIMO system, which contains ``siso_ss1`` twice
165169
sys = self.mimo_ss1
166170
y_00, _t = step(sys, T=t, input=0, output=0)
@@ -188,6 +192,20 @@ def testImpulse(self):
188192
np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
189193
np.testing.assert_array_almost_equal(tout, t)
190194

195+
# Play with arguments
196+
yout, tout = impulse(sys, T=t, X0=0)
197+
np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
198+
np.testing.assert_array_almost_equal(tout, t)
199+
200+
X0 = np.array([0, 0]);
201+
yout, tout = impulse(sys, T=t, X0=X0)
202+
np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
203+
np.testing.assert_array_almost_equal(tout, t)
204+
205+
yout, tout, xout = impulse(sys, T=t, X0=0, return_x=True)
206+
np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
207+
np.testing.assert_array_almost_equal(tout, t)
208+
191209
#Test MIMO system, which contains ``siso_ss1`` twice
192210
sys = self.mimo_ss1
193211
y_00, _t = impulse(sys, T=t, input=0, output=0)
@@ -206,6 +224,11 @@ def testInitial(self):
206224
np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
207225
np.testing.assert_array_almost_equal(tout, t)
208226

227+
# Play with arguments
228+
yout, tout, xout = initial(sys, T=t, X0=x0, return_x=True)
229+
np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
230+
np.testing.assert_array_almost_equal(tout, t)
231+
209232
#Test MIMO system, which contains ``siso_ss1`` twice
210233
sys = self.mimo_ss1
211234
x0 = np.matrix(".5; 1.; .5; 1.")

‎control/tests/timeresp_test.py

Lines changed: 19 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -87,6 +87,20 @@ def test_impulse_response(self):
8787
np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
8888
np.testing.assert_array_almost_equal(tout, t)
8989

90+
# Play with arguments
91+
tout, yout = impulse_response(sys, T=t, X0=0)
92+
np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
93+
np.testing.assert_array_almost_equal(tout, t)
94+
95+
X0 = np.array([0, 0])
96+
tout, yout = impulse_response(sys, T=t, X0=X0)
97+
np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
98+
np.testing.assert_array_almost_equal(tout, t)
99+
100+
tout, yout, xout = impulse_response(sys, T=t, X0=0, return_x=True)
101+
np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
102+
np.testing.assert_array_almost_equal(tout, t)
103+
90104
# Test MIMO system, which contains ``siso_ss1`` twice
91105
sys = self.mimo_ss1
92106
_t, y_00 = impulse_response(sys, T=t, input=0, output=0)
@@ -111,6 +125,11 @@ def test_initial_response(self):
111125
np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
112126
np.testing.assert_array_almost_equal(tout, t)
113127

128+
# Play with arguments
129+
tout, yout, xout = initial_response(sys, T=t, X0=x0, return_x=True)
130+
np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
131+
np.testing.assert_array_almost_equal(tout, t)
132+
114133
# Test MIMO system, which contains ``siso_ss1`` twice
115134
sys = self.mimo_ss1
116135
x0 = np.matrix(".5; 1.; .5; 1.")

‎control/timeresp.py

Lines changed: 14 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -493,7 +493,7 @@ def step_response(sys, T=None, X0=0., input=None, output=None,
493493

494494

495495
def initial_response(sys, T=None, X0=0., input=0, output=None,
496-
transpose=False):
496+
transpose=False, return_x=False):
497497
# pylint: disable=W0622
498498
"""Initial condition response of a linear system
499499
@@ -535,6 +535,8 @@ def initial_response(sys, T=None, X0=0., input=0, output=None,
535535
Time values of the output
536536
yout: array
537537
Response of the system
538+
xout: array
539+
Individual response of each x variable
538540
539541
See Also
540542
--------
@@ -553,11 +555,15 @@ def initial_response(sys, T=None, X0=0., input=0, output=None,
553555
U = np.zeros_like(T)
554556

555557
T, yout, _xout = forced_response(sys, T, U, X0, transpose=transpose)
558+
559+
if return_x:
560+
return T, yout, _xout
561+
556562
return T, yout
557563

558564

559565
def impulse_response(sys, T=None, X0=0., input=0, output=None,
560-
transpose=False):
566+
transpose=False, return_x=False):
561567
# pylint: disable=W0622
562568
"""Impulse response of a linear system
563569
@@ -599,6 +605,8 @@ def impulse_response(sys, T=None, X0=0., input=0, output=None,
599605
Time values of the output
600606
yout: array
601607
Response of the system
608+
xout: array
609+
Individual response of each x variable
602610
603611
See Also
604612
--------
@@ -637,4 +645,8 @@ def impulse_response(sys, T=None, X0=0., input=0, output=None,
637645
T, yout, _xout = forced_response(
638646
sys, T, U, new_X0,
639647
transpose=transpose)
648+
649+
if return_x:
650+
return T, yout, _xout
651+
640652
return T, yout

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