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Merge pull request #1082 from murrayrm/iosys_enhance-07Dec2024
I/O system enhancements
2 parents 21c8f31 + 1061445 commit 93c4c8d

22 files changed

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-581
lines changed

‎control/bdalg.py

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -600,8 +600,8 @@ def combine_tf(tf_array):
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f"row {row_index}."
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)
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for j_in in range(col.ninputs):
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num_row.append(col.num[j_out][j_in])
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den_row.append(col.den[j_out][j_in])
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num_row.append(col.num_array[j_out, j_in])
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den_row.append(col.den_array[j_out, j_in])
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num.append(num_row)
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den.append(den_row)
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for row_index, row in enumerate(num):
@@ -657,8 +657,8 @@ def split_tf(transfer_function):
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for i_in in range(transfer_function.ninputs):
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row.append(
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tf.TransferFunction(
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transfer_function.num[i_out][i_in],
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transfer_function.den[i_out][i_in],
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transfer_function.num_array[i_out, i_in],
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transfer_function.den_array[i_out, i_in],
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dt=transfer_function.dt,
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)
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)

‎control/flatsys/flatsys.py

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Original file line numberDiff line numberDiff line change
@@ -1,42 +1,5 @@
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# flatsys.py - trajectory generation for differentially flat systems
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# RMM, 10 Nov 2012
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#
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# This file contains routines for computing trajectories for differentially
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# flat nonlinear systems. It is (very) loosely based on the NTG software
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# package developed by Mark Milam and Kudah Mushambi, but rewritten from
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# scratch in python.
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#
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# Copyright (c) 2012 by California Institute of Technology
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# All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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#
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in the
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# documentation and/or other materials provided with the distribution.
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#
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# 3. Neither the name of the California Institute of Technology nor
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# the names of its contributors may be used to endorse or promote
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# products derived from this software without specific prior
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# written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL CALTECH
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# OR THE CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
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# USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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# ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
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# OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
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# SUCH DAMAGE.
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import itertools
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import numpy as np
@@ -54,8 +17,30 @@ class FlatSystem(NonlinearIOSystem):
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"""Base class for representing a differentially flat system.
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The FlatSystem class is used as a base class to describe differentially
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flat systems for trajectory generation. The output of the system does not
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need to be the differentially flat output.
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flat systems for trajectory generation. The output of the system does
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not need to be the differentially flat output. Flat systems are
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usually created with the :func:`~control.flatsys.flatsys` factory
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function.
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Parameters
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----------
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forward : callable
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A function to compute the flat flag given the states and input.
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reverse : callable
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A function to compute the states and input given the flat flag.
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dt : None, True or float, optional
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System timebase.
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Attributes
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----------
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ninputs, noutputs, nstates : int
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Number of input, output and state variables.
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shape : tuple
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2-tuple of I/O system dimension, (noutputs, ninputs).
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input_labels, output_labels, state_labels : list of str
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Names for the input, output, and state variables.
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name : string, optional
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System name.
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Notes
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-----
@@ -234,10 +219,9 @@ def flatsys(*args, updfcn=None, outfcn=None, **kwargs):
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Description of the system states. Same format as `inputs`.
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dt : None, True or float, optional
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System timebase. None (default) indicates continuous
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time, True indicates discrete time with undefined sampling
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time, positive number is discrete time with specified
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sampling time.
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System timebase. None (default) indicates continuous time, True
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indicates discrete time with undefined sampling time, positive
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number is discrete time with specified sampling time.
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params : dict, optional
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Parameter values for the systems. Passed to the evaluation
@@ -252,6 +236,12 @@ def flatsys(*args, updfcn=None, outfcn=None, **kwargs):
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sys: :class:`FlatSystem`
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Flat system.
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Other Parameters
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----------------
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input_prefix, output_prefix, state_prefix : string, optional
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Set the prefix for input, output, and state signals. Defaults =
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'u', 'y', 'x'.
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"""
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from .linflat import LinearFlatSystem
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from ..statesp import StateSpace

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