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Merge pull request #721 from murrayrm/ioclass_25Mar2022
Updated system class functionality
2 parents 983726c + 135734a commit 2102181

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‎.github/workflows/python-package-conda.yml

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Original file line numberDiff line numberDiff line change
@@ -4,18 +4,20 @@ on: [push, pull_request]
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jobs:
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test-linux:
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name: Python ${{ matrix.python-version }}${{ matrix.slycot && format(' with Slycot from {0}', matrix.slycot) || ' without Slycot' }}${{ matrix.array-and-matrix == 1 && ', array and matrix' || '' }}
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name: Python ${{ matrix.python-version }}${{ matrix.slycot && format(' with Slycot from {0}', matrix.slycot) || ' without Slycot' }}${{ matrix.pandas && ', with pandas' || '' }}${{ matrix.array-and-matrix == 1 && ', array and matrix' || '' }}
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runs-on: ubuntu-latest
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strategy:
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max-parallel: 5
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matrix:
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python-version: [3.7, 3.9]
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slycot: ["", "conda"]
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pandas: [""]
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array-and-matrix: [0]
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include:
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- python-version: 3.9
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slycot: conda
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pandas: conda
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array-and-matrix: 1
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steps:
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if [[ '${{matrix.slycot}}' == 'conda' ]]; then
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conda install -c conda-forge slycot
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fi
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if [[ '${{matrix.pandas}}' == 'conda' ]]; then
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conda install -c conda-forge pandas
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fi
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- name: Test with pytest
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env:

‎control/__init__.py

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@@ -55,6 +55,7 @@
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from .margins import *
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from .mateqn import *
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from .modelsimp import *
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from .namedio import *
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from .nichols import *
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from .phaseplot import *
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from .pzmap import *

‎control/canonical.py

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@@ -2,7 +2,7 @@
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# RMM, 10 Nov 2012
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from .exception import ControlNotImplemented, ControlSlycot
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from .lti import issiso
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from .namedio import issiso
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from .statesp import StateSpace, _convert_to_statespace
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from .statefbk import ctrb, obsv
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‎control/dtime.py

+1-1
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@@ -47,7 +47,7 @@
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"""
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from .lti import isctime
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from .namedio import isctime
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from .statesp import StateSpace
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__all__ = ['sample_system', 'c2d']

‎control/exception.py

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@@ -71,3 +71,16 @@ def slycot_check():
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except:
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slycot_installed = False
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return slycot_installed
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# Utility function to see if pandas is installed
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pandas_installed = None
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def pandas_check():
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global pandas_installed
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if pandas_installed is None:
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try:
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import pandas
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pandas_installed = True
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except:
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pandas_installed = False
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return pandas_installed

‎control/flatsys/flatsys.py

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Original file line numberDiff line numberDiff line change
@@ -156,6 +156,11 @@ def __init__(self,
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# Save the length of the flat flag
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def __str__(self):
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return f"{NonlinearIOSystem.__str__(self)}\n\n" \
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+ f"Forward: {self.forward}\n" \
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+ f"Reverse: {self.reverse}"
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def forward(self, x, u, params={}):
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"""Compute the flat flag given the states and input.

‎control/flatsys/linflat.py

+10
Original file line numberDiff line numberDiff line change
@@ -140,3 +140,13 @@ def reverse(self, zflag, params):
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x = self.Tinv @ z
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u = zflag[0][-1] - self.F @ z
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return np.reshape(x, self.nstates), np.reshape(u, self.ninputs)
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# Update function
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def _rhs(self, t, x, u, params={}):
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# Use LinearIOSystem._rhs instead of default (MRO) NonlinearIOSystem
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return LinearIOSystem._rhs(self, t, x, u)
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# output function
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def _out(self, t, x, u, params={}):
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# Use LinearIOSystem._out instead of default (MRO) NonlinearIOSystem
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return LinearIOSystem._out(self, t, x, u)

‎control/flatsys/systraj.py

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@@ -37,6 +37,7 @@
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# SUCH DAMAGE.
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import numpy as np
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from ..timeresp import TimeResponseData
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class SystemTrajectory:
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"""Class representing a system trajectory.
@@ -117,3 +118,75 @@ def eval(self, tlist):
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self.system.reverse(zflag, self.params)
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return xd, ud
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# Return the system trajectory as a TimeResponseData object
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def response(self, tlist, transpose=False, return_x=False, squeeze=None):
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"""Return the trajectory of a system as a TimeResponseData object
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Evaluate the trajectory at a list of time points, returning the state
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and input vectors for the trajectory:
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response = traj.response(tlist)
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time, yd, ud = response.time, response.outputs, response.inputs
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Parameters
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----------
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tlist : 1D array
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List of times to evaluate the trajectory.
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transpose : bool, optional
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If True, transpose all input and output arrays (for backward
139+
compatibility with MATLAB and :func:`scipy.signal.lsim`).
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Default value is False.
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return_x : bool, optional
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If True, return the state vector when assigning to a tuple
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(default = False). See :func:`forced_response` for more details.
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146+
squeeze : bool, optional
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By default, if a system is single-input, single-output (SISO) then
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the output response is returned as a 1D array (indexed by time).
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If squeeze=True, remove single-dimensional entries from the shape
150+
of the output even if the system is not SISO. If squeeze=False,
151+
keep the output as a 3D array (indexed by the output, input, and
152+
time) even if the system is SISO. The default value can be set
153+
using config.defaults['control.squeeze_time_response'].
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Returns
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-------
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results : TimeResponseData
158+
Time response represented as a :class:`TimeResponseData` object
159+
containing the following properties:
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161+
* time (array): Time values of the output.
162+
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* outputs (array): Response of the system. If the system is SISO
164+
and squeeze is not True, the array is 1D (indexed by time). If
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the system is not SISO or ``squeeze`` is False, the array is 3D
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(indexed by the output, trace, and time).
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168+
* states (array): Time evolution of the state vector, represented
169+
as either a 2D array indexed by state and time (if SISO) or a 3D
170+
array indexed by state, trace, and time. Not affected by
171+
``squeeze``.
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* inputs (array): Input(s) to the system, indexed in the same
174+
manner as ``outputs``.
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The return value of the system can also be accessed by assigning
177+
the function to a tuple of length 2 (time, output) or of length 3
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(time, output, state) if ``return_x`` is ``True``.
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"""
181+
# Compute the state and input response using the eval function
182+
sys = self.system
183+
xout, uout = self.eval(tlist)
184+
yout = np.array([
185+
sys.output(tlist[i], xout[:, i], uout[:, i])
186+
for i in range(len(tlist))]).transpose()
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188+
return TimeResponseData(
189+
tlist, yout, xout, uout, issiso=sys.issiso(),
190+
input_labels=sys.input_labels, output_labels=sys.output_labels,
191+
state_labels=sys.state_labels,
192+
transpose=transpose, return_x=return_x, squeeze=squeeze)

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