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Merged
merged 2 commits into from
Oct 19, 2024
Merged

Improve code style, markov #1051

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df71ed6
Add space after commas
KybernetikJo Oct 17, 2024
b70c0ed
Update docstring hash for markov
KybernetikJo Oct 19, 2024
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12 changes: 6 additions & 6 deletions control/modelsimp.py
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Original file line number Diff line number Diff line change
Expand Up @@ -667,21 +667,21 @@ def markov(*args, m=None, transpose=False, dt=None, truncate=False):

# Set up the full problem
# Create matrix of (shifted) inputs
UUT = np.zeros((p*m,(l)))
UUT = np.zeros((p*m, l))
for i in range(m):
# Shift previous column down and keep zeros at the top
UUT[i*p:(i+1)*p,i:] = Umat[:,:l-i]
UUT[i*p:(i+1)*p, i:] = Umat[:, :l-i]

# Truncate first t=0 or t=m time steps, transpose the problem for lsq
YY = Ymat[:,t:].T
UU = UUT[:,t:].T
YY = Ymat[:, t:].T
UU = UUT[:, t:].T

# Solve for the Markov parameters from YY = UU @ H.T
HT, _, _, _ = np.linalg.lstsq(UU, YY, rcond=None)
H = HT.T/dt # scaling

H = H.reshape(q,m,p) # output, time*input -> output, time, input
H = H.transpose(0,2,1) # output, input, time
H = H.reshape(q, m, p) # output, time*input -> output, time, input
H = H.transpose(0, 2, 1) # output, input, time

# for siso return a 1D array instead of a 3D array
if q == 1 and p == 1:
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2 changes: 1 addition & 1 deletion control/tests/docstrings_test.py
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Expand Up @@ -39,7 +39,7 @@
control.ss2tf: '48ff25d22d28e7b396e686dd5eb58831',
control.tf: '53a13f4a7f75a31c81800e10c88730ef',
control.tf2ss: '086a3692659b7321c2af126f79f4bc11',
control.markov: '753309de348132ef238e78ac756412c1',
control.markov: 'eda7c4635bbb863ae6659e574285d356',
control.gangof4: '0e52eb6cf7ce024f9a41f3ae3ebf04f7',
}

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