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Jan 1, 2017
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DOC: fixed additional small typo in installation docs #125

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3bfd2be
DOC: fixed small typo in installation docs + add prereqs
murrayrm Dec 29, 2016
c387c69
TRV: removed trailing spaces
murrayrm Dec 31, 2016
46d5dc5
TRV: fixed grammatical error in conda instructions
murrayrm Jan 1, 2017
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4 changes: 2 additions & 2 deletions control/config.py
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Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,7 @@
bode_dB = False # Bode plot magnitude units
bode_deg = True # Bode Plot phase units
bode_Hz = False # Bode plot frequency units
bode_number_of_samples = None # Bode plot number of samples
bode_number_of_samples = None # Bode plot number of samples
bode_feature_periphery_decade = 1.0 # Bode plot feature periphery in decades

# Set defaults to match MATLAB
Expand All @@ -29,7 +29,7 @@ def use_matlab_defaults():
def use_fbs_defaults():
"""
Use `Astrom and Murray <http://fbsbook.org>`_ compatible settings
* Bode plots plot gain in powers of ten, phase in degrees,
* Bode plots plot gain in powers of ten, phase in degrees,
frequency in Hertz
"""
# Bode plot defaults
Expand Down
16 changes: 8 additions & 8 deletions control/exception.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
#
# Author: Richard M. Murray
# Date: 31 May 2010
#
#
# This file contains definitions of standard exceptions for the control package
#
# Copyright (c) 2010 by California Institute of Technology
Expand All @@ -14,16 +14,16 @@
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
#
#
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in the
# documentation and/or other materials provided with the distribution.
#
#
# 3. Neither the name of the California Institute of Technology nor
# the names of its contributors may be used to endorse or promote
# products derived from this software without specific prior
# written permission.
#
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
Expand All @@ -36,19 +36,19 @@
# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
# OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
# SUCH DAMAGE.
#
#
# $Id$

class ControlSlycot(Exception):
class ControlSlycot(Exception):
"""Exception for Slycot import. Used when we can't import a function
from the slycot package"""
pass

class ControlDimension(Exception):
class ControlDimension(Exception):
"""Raised when dimensions of system objects are not correct"""
pass

class ControlArgument(Exception):
class ControlArgument(Exception):
"""Raised when arguments to a function are not correct"""
pass

Expand Down
75 changes: 38 additions & 37 deletions control/freqplot.py
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Expand Up @@ -78,11 +78,11 @@ def bode_plot(syslist, omega=None, dB=None, Hz=None, deg=None,
If True, plot phase in degrees (else radians)
Plot : boolean
If True, plot magnitude and phase
omega_limits: tuple, list, ... of two values
omega_limits: tuple, list, ... of two values
Limits of the to generate frequency vector.
If Hz=True the limits are in Hz otherwise in rad/s.
omega_num: int
number of samples
number of samples
*args, **kwargs:
Additional options to matplotlib (color, linestyle, etc)

Expand Down Expand Up @@ -120,7 +120,7 @@ def bode_plot(syslist, omega=None, dB=None, Hz=None, deg=None,
# If argument was a singleton, turn it into a list
if (not getattr(syslist, '__iter__', False)):
syslist = (syslist,)

if omega is None:
if omega_limits is None:
# Select a default range if none is provided
Expand All @@ -133,7 +133,7 @@ def bode_plot(syslist, omega=None, dB=None, Hz=None, deg=None,
omega = sp.logspace(np.log10(omega_limits[0]), np.log10(omega_limits[1]), num=omega_num, endpoint=True)
else:
omega = sp.logspace(np.log10(omega_limits[0]), np.log10(omega_limits[1]), endpoint=True)

mags, phases, omegas, nyquistfrqs = [], [], [], []
for sys in syslist:
if (sys.inputs > 1 or sys.outputs > 1):
Expand All @@ -142,8 +142,8 @@ def bode_plot(syslist, omega=None, dB=None, Hz=None, deg=None,
else:
omega_sys = np.array(omega)
if sys.isdtime(True):
nyquistfrq = 2. * np.pi * 1. / sys.dt / 2.
omega_sys = omega_sys[omega_sys < nyquistfrq]
nyquistfrq = 2. * np.pi * 1. / sys.dt / 2.
omega_sys = omega_sys[omega_sys < nyquistfrq]
# TODO: What distance to the Nyquist frequency is appropriate?
else:
nyquistfrq = None
Expand Down Expand Up @@ -179,7 +179,7 @@ def bode_plot(syslist, omega=None, dB=None, Hz=None, deg=None,
plt.hold(True);
if nyquistfrq_plot:
ax_mag.axvline(nyquistfrq_plot, color=pltline[0].get_color())

# Add a grid to the plot + labeling
ax_mag.grid(True, which='both')
ax_mag.set_ylabel("Magnitude (dB)" if dB else "Magnitude")
Expand All @@ -194,30 +194,31 @@ def bode_plot(syslist, omega=None, dB=None, Hz=None, deg=None,
ax_phase.hold(True);
if nyquistfrq_plot:
ax_phase.axvline(nyquistfrq_plot, color=pltline[0].get_color())

# Add a grid to the plot + labeling
ax_phase.set_ylabel("Phase (deg)" if deg else "Phase (rad)")
ax_phase.set_ylabel("Phase (deg)" if deg else "Phase (rad)")

def genZeroCenteredSeries(val_min, val_max, period):
v1 = np.ceil(val_min / period - 0.2)
v2 = np.floor(val_max / period + 0.2)
return np.arange(v1, v2 + 1) * period
return np.arange(v1, v2 + 1) * period
if deg:
ylim = ax_phase.get_ylim()
ax_phase.set_yticks(genZeroCenteredSeries(ylim[0], ylim[1], 45.))
ax_phase.set_yticks(genZeroCenteredSeries(ylim[0], ylim[1], 15.), minor=True)
ax_phase.set_yticks(genZeroCenteredSeries(ylim[0], ylim[1], 45.))
ax_phase.set_yticks(genZeroCenteredSeries(ylim[0], ylim[1], 15.), minor=True)
else:
ylim = ax_phase.get_ylim()
ax_phase.set_yticks(genZeroCenteredSeries(ylim[0], ylim[1], np.pi / 4.))
ax_phase.set_yticks(genZeroCenteredSeries(ylim[0], ylim[1], np.pi / 4.))
ax_phase.set_yticks(genZeroCenteredSeries(ylim[0], ylim[1], np.pi / 12.), minor=True)
ax_phase.grid(True, which='both')
# ax_mag.grid(which='minor', alpha=0.3)
# ax_mag.grid(which='minor', alpha=0.3)
# ax_mag.grid(which='major', alpha=0.9)
# ax_phase.grid(which='minor', alpha=0.3)
# ax_phase.grid(which='major', alpha=0.9)
# ax_phase.grid(which='minor', alpha=0.3)
# ax_phase.grid(which='major', alpha=0.9)

# Label the frequency axis
ax_phase.set_xlabel("Frequency (Hz)" if Hz else "Frequency (rad/sec)")
ax_phase.set_xlabel("Frequency (Hz)" if Hz else "Frequency (rad/sec)")

if len(syslist) == 1:
return mags[0], phases[0], omegas[0]
else:
Expand Down Expand Up @@ -314,7 +315,7 @@ def nyquist_plot(syslist, omega=None, Plot=True, color='b',
# instead of 1.0, and this would otherwise be
# truncated to 0.
plt.text(xpt, ypt,
' ' + str(int(np.round(f / 1000 ** pow1000, 0))) +
' ' + str(int(np.round(f / 1000 ** pow1000, 0))) +
' ' + prefix + 'Hz')
return x, y, omega

Expand Down Expand Up @@ -394,18 +395,18 @@ def default_frequency_range(syslist, Hz=None, number_of_samples=None, feature_pe
syslist : list of LTI
List of linear input/output systems (single system is OK)
Hz: boolean
If True, the limits (first and last value) of the frequencies
are set to full decades in Hz so it fits plotting with logarithmic
If True, the limits (first and last value) of the frequencies
are set to full decades in Hz so it fits plotting with logarithmic
scale in Hz otherwise in rad/s. Omega is always returned in rad/sec.
number_of_samples: int
Number of samples to generate
feature_periphery_decade: float
Defines how many decades shall be included in the frequency range on
both sides of features (poles, zeros).
Defines how many decades shall be included in the frequency range on
both sides of features (poles, zeros).
Example: If there is a feature, e.g. a pole, at 1Hz and feature_periphery_decade=1.
then the range of frequencies shall span 0.1 .. 10 Hz.
then the range of frequencies shall span 0.1 .. 10 Hz.
The default value is read from config.bode_feature_periphery_decade.

Returns
-------
omega : array
Expand All @@ -425,14 +426,14 @@ def default_frequency_range(syslist, Hz=None, number_of_samples=None, feature_pe

# Set default values for options
from . import config
if (number_of_samples is None):
if (number_of_samples is None):
number_of_samples = config.bode_number_of_samples
if (feature_periphery_decade is None):
feature_periphery_decade = config.bode_feature_periphery_decade
if (feature_periphery_decade is None):
feature_periphery_decade = config.bode_feature_periphery_decade

# Find the list of all poles and zeros in the systems
features = np.array(())
freq_interesting = []
freq_interesting = []

# detect if single sys passed by checking if it is sequence-like
if (not getattr(syslist, '__iter__', False)):
Expand All @@ -443,34 +444,34 @@ def default_frequency_range(syslist, Hz=None, number_of_samples=None, feature_pe
# Add new features to the list
if sys.isctime():
features_ = np.concatenate((np.abs(sys.pole()),
np.abs(sys.zero())))
np.abs(sys.zero())))
# Get rid of poles and zeros at the origin
features_ = features_[features_ != 0.0];
features = np.concatenate((features, features_))
elif sys.isdtime(strict=True):
fn = np.pi * 1. / sys.dt
# TODO: What distance to the Nyquist frequency is appropriate?
# TODO: What distance to the Nyquist frequency is appropriate?
freq_interesting.append(fn * 0.9)

features_ = np.concatenate((sys.pole(),
sys.zero()))
# Get rid of poles and zeros
sys.zero()))
# Get rid of poles and zeros
# * at the origin and real <= 0 & imag==0: log!
# * at 1.: would result in omega=0. (logaritmic plot!)
features_ = features_[(features_.imag != 0.0) | (features_.real > 0.)]
features_ = features_[np.bitwise_not((features_.imag == 0.0) & (np.abs(features_.real - 1.0) < 1.e-10))]
# TODO: improve
features__ = np.abs(np.log(features_) / (1.j * sys.dt))
features = np.concatenate((features, features__))
features = np.concatenate((features, features__))
else:
# TODO
raise NotImplementedError('type of system in not implemented now')
raise NotImplementedError('type of system in not implemented now')
except:
pass


# Make sure there is at least one point in the range
if (features.shape[0] == 0):
if (features.shape[0] == 0):
features = np.array([1.]);

if Hz:
Expand Down
16 changes: 8 additions & 8 deletions control/margins.py
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Original file line number Diff line number Diff line change
Expand Up @@ -130,7 +130,7 @@ def stability_margins(sysdata, returnall=False, epsw=1e-8):
sys = sysdata
elif getattr(sysdata, '__iter__', False) and len(sysdata) == 3:
mag, phase, omega = sysdata
sys = frdata.FRD(mag * np.exp(1j * phase * np.pi/180),
sys = frdata.FRD(mag * np.exp(1j * phase * np.pi/180),
omega, smooth=True)
else:
sys = xferfcn._convertToTransferFunction(sysdata)
Expand Down Expand Up @@ -163,7 +163,7 @@ def stability_margins(sysdata, returnall=False, epsw=1e-8):
# evaluate response at remaining frequencies, to test for phase 180 vs 0
resp_w_180 = np.real(np.polyval(sys.num[0][0], 1.j*w_180) /
np.polyval(sys.den[0][0], 1.j*w_180))
#print ('resp_w_180', resp_w_180)
#print ('resp_w_180', resp_w_180)

# only keep frequencies where the negative real axis is crossed
w_180 = w_180[np.real(resp_w_180) < 0.0]
Expand Down Expand Up @@ -192,7 +192,7 @@ def stability_margins(sysdata, returnall=False, epsw=1e-8):
# find the solutions, for positive omega, and only real ones
wstab = np.roots(test_wstab)
#print('wstabr', wstab)
wstab = np.real(wstab[(np.imag(wstab) == 0) *
wstab = np.real(wstab[(np.imag(wstab) == 0) *
(np.real(wstab) >= 0)])
#print('wstab', wstab)

Expand Down Expand Up @@ -224,7 +224,7 @@ def dstab(w):
wc = np.array(
[ sp.optimize.brentq(mod, sys.omega[i], sys.omega[i+1])
for i in widx if i+1 < len(sys.omega)])

# find the phase crossings ang(H(jw) == -180
widx = np.where(np.diff(np.sign(arg(sys.omega))))[0]
#print('widx (180)', widx, sys.omega[widx])
Expand All @@ -246,17 +246,17 @@ def dstab(w):
for i in widx if i+1 < len(sys.omega) and
np.diff(np.diff(dstab(sys.omega[i-1:i+2])))[0] > 0 ])
#print('wstabf0', wstab)
wstab = wstab[(wstab >= sys.omega[0]) *
wstab = wstab[(wstab >= sys.omega[0]) *
(wstab <= sys.omega[-1])]
#print ('wstabf', wstab)


# margins, as iterables, converted frdata and xferfcn calculations to
# vector for this
GM = 1/np.abs(sys.evalfr(w_180)[0][0])
SM = np.abs(sys.evalfr(wstab)[0][0]+1)
PM = np.angle(sys.evalfr(wc)[0][0], deg=True) + 180

if returnall:
return GM, PM, SM, w_180, wc, wstab
else:
Expand Down Expand Up @@ -337,7 +337,7 @@ def margin(*args):
Gain crossover frequency (corresponding to phase margin)
Wcp : float
Phase crossover frequency (corresponding to gain margin) (in rad/sec)

Margins are of SISO open-loop. If more than one crossover frequency is
detected, returns the lowest corresponding margin.

Expand Down
10 changes: 5 additions & 5 deletions control/tests/bdalg_test.py
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Expand Up @@ -40,7 +40,7 @@ def testScalarSS(self):

ans1 = feedback(self.x1, self.sys2)
ans2 = feedback(self.x1, self.sys2, 1.)

np.testing.assert_array_almost_equal(ans1.A, [[-1.5, 4.], [13., 2.]])
np.testing.assert_array_almost_equal(ans1.B, [[2.5], [-10.]])
np.testing.assert_array_almost_equal(ans1.C, [[-2.5, 0.]])
Expand Down Expand Up @@ -77,7 +77,7 @@ def testScalarTF(self):

def testSSScalar(self):
"""State space system with scalar feedback block."""

ans1 = feedback(self.sys2, self.x1)
ans2 = feedback(self.sys2, self.x1, 1.)

Expand All @@ -98,7 +98,7 @@ def testSSSS1(self):

np.testing.assert_array_almost_equal(ans1.A, [[1., 4., -1., 0.],
[3., 2., 4., 0.], [1., 0., 1., 4.], [-4., 0., 3., 2]])
np.testing.assert_array_almost_equal(ans1.B, [[1.], [-4.], [0.], [0.]])
np.testing.assert_array_almost_equal(ans1.B, [[1.], [-4.], [0.], [0.]])
np.testing.assert_array_almost_equal(ans1.C, [[1., 0., 0., 0.]])
np.testing.assert_array_almost_equal(ans1.D, [[0.]])
np.testing.assert_array_almost_equal(ans2.A, [[1., 4., 1., 0.],
Expand All @@ -115,7 +115,7 @@ def testSSSS2(self):
[[-2.]])
sys4 = StateSpace([[-3., -2.], [1., 4.]], [[-2.], [-6.]], [[2., -3.]],
[[3.]])

ans1 = feedback(sys3, sys4)
ans2 = feedback(sys3, sys4, 1.)

Expand Down Expand Up @@ -144,7 +144,7 @@ def testSSSS2(self):

def testSSTF(self):
"""State space system with transfer function feedback block."""

# This functionality is not implemented yet.
pass

Expand Down
6 changes: 3 additions & 3 deletions control/tests/freqresp_test.py
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Expand Up @@ -3,8 +3,8 @@
# freqresp_test.py - test frequency response functions
# RMM, 30 May 2016 (based on timeresp_test.py)
#
# This is a rudimentary set of tests for frequency response functions,
# including bode plots.
# This is a rudimentary set of tests for frequency response functions,
# including bode plots.

import unittest
import numpy as np
Expand Down Expand Up @@ -53,7 +53,7 @@ def test_mimo(self):

#bode(sysMIMO) # - should throw not implemented exception
#bode(tfMIMO) # - should throw not implemented exception

#plt.figure(3)
#plt.semilogx(self.omega,20*np.log10(np.squeeze(frq[0])))

Expand Down
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