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add flatsys.systraj.response() to create TimeResponseData object
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6 files changed

+169
-39
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6 files changed

+169
-39
lines changed

‎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

+73
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@@ -37,6 +37,7 @@
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# SUCH DAMAGE.
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import numpy as np
40+
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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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
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of the output even if the system is not SISO. If squeeze=False,
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keep the output as a 3D array (indexed by the output, input, and
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time) even if the system is SISO. The default value can be set
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using config.defaults['control.squeeze_time_response'].
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Returns
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-------
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results : TimeResponseData
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Time response represented as a :class:`TimeResponseData` object
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containing the following properties:
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* time (array): Time values of the output.
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* outputs (array): Response of the system. If the system is SISO
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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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* states (array): Time evolution of the state vector, represented
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as either a 2D array indexed by state and time (if SISO) or a 3D
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array indexed by state, trace, and time. Not affected by
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``squeeze``.
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* inputs (array): Input(s) to the system, indexed in the same
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manner as ``outputs``.
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The return value of the system can also be accessed by assigning
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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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"""
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# Compute the state and input response using the eval function
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sys = self.system
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xout, uout = self.eval(tlist)
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yout = np.array([
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sys.output(tlist[i], xout[:, i], uout[:, i])
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for i in range(len(tlist))]).transpose()
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return TimeResponseData(
189+
tlist, yout, xout, uout, issiso=sys.issiso(),
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input_labels=sys.input_labels, output_labels=sys.output_labels,
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state_labels=sys.state_labels,
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transpose=transpose, return_x=return_x, squeeze=squeeze)

‎control/tests/flatsys_test.py

+26
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@@ -378,3 +378,29 @@ def test_point_to_point_errors(self):
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with pytest.raises(TypeError, match="unrecognized keyword"):
379379
traj_method = fs.point_to_point(
380380
flat_sys, timepts, x0, u0, xf, uf, solve_ivp_method=None)
381+
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@pytest.mark.parametrize(
383+
"xf, uf, Tf",
384+
[([1, 0], [0], 2),
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([0, 1], [0], 3),
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([1, 1], [1], 4)])
387+
def test_response(self, xf, uf, Tf):
388+
# Define a second order integrator
389+
sys = ct.StateSpace([[-1, 1], [0, -2]], [[0], [1]], [[1, 0]], 0)
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flatsys = fs.LinearFlatSystem(sys)
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# Define the basis set
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poly = fs.PolyFamily(6)
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x1, u1, = [0, 0], [0]
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traj = fs.point_to_point(flatsys, Tf, x1, u1, xf, uf, basis=poly)
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# Compute the response the regular way
399+
T = np.linspace(0, Tf, 10)
400+
x, u = traj.eval(T)
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# Recompute using response()
403+
response = traj.response(T, squeeze=False)
404+
np.testing.assert_equal(T, response.time)
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np.testing.assert_equal(u, response.inputs)
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np.testing.assert_equal(x, response.states)

‎control/tests/kwargs_test.py

+6-2
Original file line numberDiff line numberDiff line change
@@ -115,6 +115,10 @@ def test_unrecognized_kwargs():
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with pytest.raises(TypeError, match="unrecognized keyword"):
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function(*args, **kwargs, unknown=None)
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118+
# If we opened any figures, close them to avoid matplotlib warnings
119+
if plt.gca():
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plt.close('all')
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118122

119123
def test_matplotlib_kwargs():
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# Create a SISO system for use in parameterized tests
@@ -141,7 +145,7 @@ def test_matplotlib_kwargs():
141145
with pytest.raises(AttributeError, match="has no property"):
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function(*args, **kwargs, unknown=None)
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# If we opened any figures, close them
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# If we opened any figures, close them to avoid matplotlib warnings
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if plt.gca():
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plt.close('all')
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@@ -171,7 +175,7 @@ def test_matplotlib_kwargs():
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'lqr': test_unrecognized_kwargs,
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'nyquist': test_matplotlib_kwargs,
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'nyquist_plot': test_matplotlib_kwargs,
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'pzmap': test_matplotlib_kwargs,
178+
'pzmap': test_unrecognized_kwargs,
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'rlocus': test_unrecognized_kwargs,
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'root_locus': test_unrecognized_kwargs,
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'rss': test_unrecognized_kwargs,

‎doc/classes.fig

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4 0 0 50 -1 0 12 0.0000 4 165 885 5400 3300 statesp.py\001
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4 0 0 50 -1 0 12 0.0000 4 195 420 8175 2325 lti.py\001
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4 2 0 50 -1 0 12 0.0000 4 195 885 8925 3300 xferfcn.py\001
@@ -119,7 +135,6 @@ Single
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4 1 1 50 -1 16 12 0.0000 4 210 1875 10875 6300 TimeResponseData\001
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4 0 4 50 -1 16 12 0.0000 4 210 1155 10950 6675 to_pandas()\001
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4 1 4 50 -1 16 12 0.0000 4 210 2295 8325 6450 input_output_response()\001
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4 0 1 50 -1 16 12 0.0000 4 210 1755 9750 7875 Class dependency\001
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4 0 4 50 -1 16 12 0.0000 4 210 2475 9750 8175 Conversion [via function()]\001
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4 0 0 50 -1 0 12 0.0000 4 150 1380 9750 8475 Source code file\001
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4 1 4 50 -1 16 12 0.0000 4 210 600 6975 3825 tf2ss()\001
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4 1 4 50 -1 16 12 0.0000 4 210 600 6975 3450 ss2tf()\001
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4 1 4 50 -1 16 12 0.0000 4 210 300 5025 6150 ic()\001
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4 1 4 50 -1 16 12 0.0000 4 210 2295 8325 6075 input_output_response()\001
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4 2 4 50 -1 16 12 0.0000 4 210 1035 8175 6975 response()\001

‎doc/classes.pdf

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