Small improvements to nlsys, bdalg #1019
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| from .iosys import InputOutputSystem | ||
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| __all__ = ['series', 'parallel', 'negate', 'feedback', 'append', 'connect'] | ||
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| def series(sys1, *sysn): | ||
| def series(sys1, *sysn, **kwargs): |
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kwargs not documented in docstring, here or the other functions in bdalg.py.
control/iosys.py
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| Parameters | ||
| ---------- | ||
| inputs : int, list of str, or None |
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name kwarg not documented
control/iosys.py
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| @@ -825,6 +865,7 @@ def _process_labels(labels, name, default): | |||
| # | |||
| import re | |||
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this can go - imported at top (not changed in this PR, tho...)
control/iosys.py
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| Parameters | ||
| ---------- | ||
| inputs : int, list of str, or None |
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explanation (or pointer to such - think this convention used in a few places?) of what integer and None do.
Possibly out-of-scope: what about a dict, of {oldname1:newname1, oldname2:newname2,...} - in this case don't have to specify all inputs (or outputs, or states...)
control/iosys.py
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| """ | ||
| self.name = kwargs.pop('name', self.name) | ||
| if kwargs.get('inputs', None): |
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| if kwargs.get('inputs', None): | |
| if 'inputs' in kwargs: |
Easier to read?
dict.get has signature get(key, default=None), so if you want to use get you don't need None.
| v = np.array(v).reshape(-1) # convert to 1D array | ||
| val_list += v.tolist() # add elements to list | ||
| val = np.array(val_list) | ||
| elif np.isscalar(arg) and size is not None: # extend scalars |
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does this funciton need to handle the case when np.isscalar(arg) and size is None, e.g., do val = np.array([arg]) ?
control/nlsys.py
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| # Process input argument | ||
| # | ||
| # The input argument is interpreted very flexibly, allowing the | ||
| # use of listsa and/or tuples of mixed scalar and vector elements. |
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| # use of listsa and/or tuples of mixed scalar and vector elements. | |
| # use of lists and/or tuples of mixed scalar and vector elements. |
doc/iosys.rst
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| * Vector elements are zero padded to the required length. If you | ||
| specify only a portion of the values for states or inputs, the | ||
| remaining values are taken as zero. (If the final element in the | ||
| given vector is non-zero, a warning is issues.) |
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| given vector is non-zero, a warning is issues.) | |
| given vector is non-zero, a warning is issued.) |
doc/iosys.rst
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| state and input vectors, respectively. | ||
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| If we want to linearize the closed loop system around a process state | ||
| ``x0`` (with two elemenst) and an estimator state ``0`` (for both states), |
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| ``x0`` (with two elemenst) and an estimator state ``0`` (for both states), | |
| ``x0`` (with two elements) and an estimator state ``0`` (for both states), |
doc/iosys.rst
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| ``x0`` (with two elemenst) and an estimator state ``0`` (for both states), | ||
| we can use the list processing feature:: | ||
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| H = clsys.liniearize([x0, 0], 0) |
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| H = clsys.liniearize([x0, 0], 0) | |
| H = clsys.linearize([x0, 0], 0) |
doc/iosys.rst
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| second argument in the list ``[x0, 0]`` is a scalar and so the vector | ||
| ``[x0, 0]`` only has three elements instead of the required four. | ||
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| To run an input/output simulation with a sinsoidal signal for the first |
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| To run an input/output simulation with a sinsoidal signal for the first | |
| To run an input/output simulation with a sinusoidal signal for the first |
This PR provides some small changes to nonlinear I/O systems process:
linearize, even ifcopy_namesisFalse.update_namesmethod for I/O systems that allows signal and system names to be updated.x0,u0keywords inlinearizeandinput_output_responseto provide common functionality in allowing concatenation of lists and zero padding ("vector element processing").x0andu0don't match the expected size.nlsys, which provides full state output, the output signal names are set to match the state names.