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Merged
merged 11 commits into from
Jul 9, 2024
Merged

Small improvements to nlsys, bdalg #1019

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2b2de2b
use state names as output names when outfcn=None
murrayrm May 24, 2024
84a1e4d
bugfix: allow sysname override in linearize if copy_names is False
murrayrm May 25, 2024
c568c59
remove redundant code
murrayrm May 25, 2024
36263d8
improve error messages for inconsistent size info in nlsys + small bu…
murrayrm May 25, 2024
1f5de6f
refactor processing of x0, u0 keywords in nlsys
murrayrm May 25, 2024
b10e3e2
_update process_vector_argument to always return 1D ndarray
murrayrm May 25, 2024
0fab739
add documentation for vector element processing
murrayrm May 25, 2024
8b85747
allow renaming of system/signal names in bdalg functions
murrayrm Jun 4, 2024
a402a7f
update test_update_names to not require slycot
murrayrm Jun 4, 2024
88e2945
address @roryyorke review comments
murrayrm Jul 9, 2024
8e123aa
fix typos pointed out by @slivingston
murrayrm Jul 9, 2024
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129 changes: 104 additions & 25 deletions control/bdalg.py
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Original file line number Diff line number Diff line change
Expand Up @@ -54,17 +54,19 @@
"""

from functools import reduce
import numpy as np
from warnings import warn
from . import xferfcn as tf
from . import statesp as ss

import numpy as np

from . import frdata as frd
from . import statesp as ss
from . import xferfcn as tf
from .iosys import InputOutputSystem

__all__ = ['series', 'parallel', 'negate', 'feedback', 'append', 'connect']


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.

r"""series(sys1, sys2, [..., sysn])

Return the series connection (`sysn` \* ...\ \*) `sys2` \* `sys1`.
Expand All @@ -79,6 +81,20 @@ def series(sys1, *sysn):
out : scalar, array, or :class:`InputOutputSystem`
Series interconnection of the systems.

Other Parameters
----------------
inputs, outputs : str, or list of str, optional
List of strings that name the individual signals. If not given,
signal names will be of the form `s[i]` (where `s` is one of `u`,
or `y`). See :class:`InputOutputSystem` for more information.
states : str, or list of str, optional
List of names for system states. If not given, state names will be
of of the form `x[i]` for interconnections of linear systems or
'<subsys_name>.<state_name>' for interconnected nonlinear systems.
name : string, optional
System name (used for specifying signals). If unspecified, a generic
name <sys[id]> is generated with a unique integer id.

Raises
------
ValueError
Expand Down Expand Up @@ -117,10 +133,12 @@ def series(sys1, *sysn):
(2, 1, 5)

"""
return reduce(lambda x, y: y * x, sysn, sys1)
sys = reduce(lambda x, y: y * x, sysn, sys1)
sys.update_names(**kwargs)
return sys


def parallel(sys1, *sysn):
def parallel(sys1, *sysn, **kwargs):
r"""parallel(sys1, sys2, [..., sysn])

Return the parallel connection `sys1` + `sys2` (+ ...\ + `sysn`).
Expand All @@ -135,6 +153,20 @@ def parallel(sys1, *sysn):
out : scalar, array, or :class:`InputOutputSystem`
Parallel interconnection of the systems.

Other Parameters
----------------
inputs, outputs : str, or list of str, optional
List of strings that name the individual signals. If not given,
signal names will be of the form `s[i]` (where `s` is one of `u`,
or `y`). See :class:`InputOutputSystem` for more information.
states : str, or list of str, optional
List of names for system states. If not given, state names will be
of of the form `x[i]` for interconnections of linear systems or
'<subsys_name>.<state_name>' for interconnected nonlinear systems.
name : string, optional
System name (used for specifying signals). If unspecified, a generic
name <sys[id]> is generated with a unique integer id.

Raises
------
ValueError
Expand Down Expand Up @@ -171,10 +203,11 @@ def parallel(sys1, *sysn):
(3, 4, 7)

"""
return reduce(lambda x, y: x + y, sysn, sys1)

sys = reduce(lambda x, y: x + y, sysn, sys1)
sys.update_names(**kwargs)
return sys

def negate(sys):
def negate(sys, **kwargs):
"""
Return the negative of a system.

Expand All @@ -188,15 +221,29 @@ def negate(sys):
out : scalar, array, or :class:`InputOutputSystem`
Negated system.

Notes
-----
This function is a wrapper for the __neg__ function in the StateSpace and
TransferFunction classes. The output type is the same as the input type.
Other Parameters
----------------
inputs, outputs : str, or list of str, optional
List of strings that name the individual signals. If not given,
signal names will be of the form `s[i]` (where `s` is one of `u`,
or `y`). See :class:`InputOutputSystem` for more information.
states : str, or list of str, optional
List of names for system states. If not given, state names will be
of of the form `x[i]` for interconnections of linear systems or
'<subsys_name>.<state_name>' for interconnected nonlinear systems.
name : string, optional
System name (used for specifying signals). If unspecified, a generic
name <sys[id]> is generated with a unique integer id.

See Also
--------
append, feedback, interconnect, parallel, series

Notes
-----
This function is a wrapper for the __neg__ function in the StateSpace and
TransferFunction classes. The output type is the same as the input type.

Examples
--------
>>> G = ct.tf([2], [1, 1])
Expand All @@ -208,11 +255,12 @@ def negate(sys):
np.float64(-2.0)

"""
return -sys
sys = -sys
sys.update_names(**kwargs)
return sys

#! TODO: expand to allow sys2 default to work in MIMO case?
#! TODO: allow renaming of signals (for all bdalg operations)
def feedback(sys1, sys2=1, sign=-1):
def feedback(sys1, sys2=1, sign=-1, **kwargs):
"""Feedback interconnection between two I/O systems.

Parameters
Expand All @@ -229,6 +277,20 @@ def feedback(sys1, sys2=1, sign=-1):
out : scalar, array, or :class:`InputOutputSystem`
Feedback interconnection of the systems.

Other Parameters
----------------
inputs, outputs : str, or list of str, optional
List of strings that name the individual signals. If not given,
signal names will be of the form `s[i]` (where `s` is one of `u`,
or `y`). See :class:`InputOutputSystem` for more information.
states : str, or list of str, optional
List of names for system states. If not given, state names will be
of of the form `x[i]` for interconnections of linear systems or
'<subsys_name>.<state_name>' for interconnected nonlinear systems.
name : string, optional
System name (used for specifying signals). If unspecified, a generic
name <sys[id]> is generated with a unique integer id.

Raises
------
ValueError
Expand Down Expand Up @@ -261,7 +323,7 @@ def feedback(sys1, sys2=1, sign=-1):
# Allow anything with a feedback function to call that function
# TODO: rewrite to allow __rfeedback__
try:
return sys1.feedback(sys2, sign)
return sys1.feedback(sys2, sign, **kwargs)
except (AttributeError, TypeError):
pass

Expand All @@ -284,9 +346,11 @@ def feedback(sys1, sys2=1, sign=-1):
else:
sys1 = ss._convert_to_statespace(sys1)

return sys1.feedback(sys2, sign)
sys = sys1.feedback(sys2, sign)
sys.update_names(**kwargs)
return sys

def append(*sys):
def append(*sys, **kwargs):
"""append(sys1, sys2, [..., sysn])

Group LTI state space models by appending their inputs and outputs.
Expand All @@ -299,6 +363,20 @@ def append(*sys):
sys1, sys2, ..., sysn: scalar, array, or :class:`StateSpace`
I/O systems to combine.

Other Parameters
----------------
inputs, outputs : str, or list of str, optional
List of strings that name the individual signals. If not given,
signal names will be of the form `s[i]` (where `s` is one of `u`,
or `y`). See :class:`InputOutputSystem` for more information.
states : str, or list of str, optional
List of names for system states. If not given, state names will be
of of the form `x[i]` for interconnections of linear systems or
'<subsys_name>.<state_name>' for interconnected nonlinear systems.
name : string, optional
System name (used for specifying signals). If unspecified, a generic
name <sys[id]> is generated with a unique integer id.

Returns
-------
out: :class:`StateSpace`
Expand Down Expand Up @@ -327,6 +405,7 @@ def append(*sys):
s1 = ss._convert_to_statespace(sys[0])
for s in sys[1:]:
s1 = s1.append(s)
s1.update_names(**kwargs)
return s1

def connect(sys, Q, inputv, outputv):
Expand Down Expand Up @@ -370,6 +449,12 @@ def connect(sys, Q, inputv, outputv):
--------
append, feedback, interconnect, negate, parallel, series

Notes
-----
The :func:`~control.interconnect` function in the :ref:`input/output
systems <iosys-module>` module allows the use of named signals and
provides an alternative method for interconnecting multiple systems.

Examples
--------
>>> G = ct.rss(7, inputs=2, outputs=2)
Expand All @@ -378,12 +463,6 @@ def connect(sys, Q, inputv, outputv):
>>> T.ninputs, T.noutputs, T.nstates
(1, 2, 7)

Notes
-----
The :func:`~control.interconnect` function in the :ref:`input/output
systems <iosys-module>` module allows the use of named signals and
provides an alternative method for interconnecting multiple systems.

"""
# TODO: maintain `connect` for use in MATLAB submodule (?)
warn("`connect` is deprecated; use `interconnect`", DeprecationWarning)
Expand Down
52 changes: 49 additions & 3 deletions control/iosys.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6,10 +6,12 @@
# FrequencyResponseData, InterconnectedSystem and other similar classes
# that allow naming of signals.

import numpy as np
import re
from copy import deepcopy
from warnings import warn
import re

import numpy as np

from . import config

__all__ = ['InputOutputSystem', 'issiso', 'timebase', 'common_timebase',
Expand Down Expand Up @@ -366,6 +368,51 @@ def find_states(self, name_list):
lambda self: list(self.state_index.keys()), # getter
set_states) # setter

# TODO: add dict as a means to selective change names? [GH #1019]
def update_names(self, **kwargs):
"""update_names([name, inputs, outputs, states])

Update signal and system names for an I/O system.

Parameters
----------
name : str, optional
New system name.
inputs : list of str, int, or None, optional
List of strings that name the individual input signals. If
given as an integer or None, signal names default to the form
`u[i]`. See :class:`InputOutputSystem` for more information.
outputs : list of str, int, or None, optional
Description of output signals; defaults to `y[i]`.
states : int, list of str, int, or None, optional
Description of system states; defaults to `x[i]`.

"""
self.name = kwargs.pop('name', self.name)
if 'inputs' in kwargs:
ninputs, input_index = _process_signal_list(
kwargs.pop('inputs'), prefix=kwargs.pop('input_prefix', 'u'))
if self.ninputs and self.ninputs != ninputs:
raise ValueError("number of inputs does not match system size")
self.input_index = input_index
if 'outputs' in kwargs:
noutputs, output_index = _process_signal_list(
kwargs.pop('outputs'), prefix=kwargs.pop('output_prefix', 'y'))
if self.noutputs and self.noutputs != noutputs:
raise ValueError("number of outputs does not match system size")
self.output_index = output_index
if 'states' in kwargs:
nstates, state_index = _process_signal_list(
kwargs.pop('states'), prefix=kwargs.pop('state_prefix', 'x'))
if self.nstates != nstates:
raise ValueError("number of states does not match system size")
self.state_index = state_index

# Make sure we processed all of the arguments
if kwargs:
raise TypeError("unrecognized keywords: ", str(kwargs))


def isctime(self, strict=False):
"""
Check to see if a system is a continuous-time system.
Expand Down Expand Up @@ -823,7 +870,6 @@ def _process_labels(labels, name, default):
# This function returns the subsystem index, a list of indices for the
# system signals, and the gain to use for that set of signals.
#
import re

def _parse_spec(syslist, spec, signame, dictname=None):
"""Parse a signal specification, returning system and signal index."""
Expand Down
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