Allow np.array or np.matrix for state space matrices, operations #314
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control/bdalg.py
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| >>> sys = append(sys1, sys2) | ||
| >>> Q = sp.mat([ [ 1, 2], [2, -1] ]) # basically feedback, output 2 in 1 | ||
| >>> Q = [[1, 2], [2, -1]]) # negative feedback interconnection |
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trailing parenthesis here looks wrong. Do we run these with doctest?
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Fixed.
We are not currently using doctest, but I ran the revised version manually to make sure it was OK.
| eye(self.inputs)) | ||
| eye(self.inputs) | ||
| + np.dot(other.fresp[:, :, k], self.fresp[:, :, k]), | ||
| eye(self.inputs)) |
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I know this is not the point of this change, but is linalg(X, eye(shape)) any better than np.linalg.inv? I'd have thought a "right divide" (linalg.solve with appropriate transposes) would have been a more standard approach.
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I agree that this could use sp.linalg.solve instead, but since I wasn't the original author I just did the conversion to remove the np.matrix dependence. I've added a TODO for someone to fix this, so at least we don't forget about it (in principle).
control/mateqn.py
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| @@ -41,16 +41,17 @@ | |||
| Author: Bjorn Olofsson | |||
| """ | |||
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| from scipy import shape, size, asarray, asmatrix, copy, zeros, eye, dot | |||
| from scipy import shape, size, array, asarray, copy, zeros, eye, dot | |||
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again not the point, but since you remove import scipy as sp, I think this should be from numpy import ...
| @@ -69,7 +70,9 @@ def lyap(A,Q,C=None,E=None): | |||
| :math:`A X E^T + E X A^T + Q = 0` | |||
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| where Q is a symmetric matrix and A, Q and E are square matrices | |||
| of the same dimension. """ | |||
| of the same dimension. | |||
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Not super-familiar with PEP8 and so on, but this extra blank line seems odd.
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The extra blank line is a numpydoc standard: https://numpydoc.readthedocs.io/en/latest/format.html#docstring-standard
| @@ -252,13 +253,13 @@ def acker(A, B, poles): | |||
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| # Place the poles using Ackermann's method | |||
| n = np.size(p) | |||
| pmat = p[n-1]*a**0 | |||
| pmat = p[n-1] * np.linalg.matrix_power(a, 0) | |||
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np.eye(a.shape) ? I suppose the matrix_power call sets the stage for the upcoming for-loop.
| for i in np.arange(1,n): | ||
| pmat = pmat + p[n-i-1]*a**i | ||
| pmat = pmat + np.dot(p[n-i-1], np.linalg.matrix_power(a, i)) |
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Again somewhat beside the point of this commit, but would it be possible to use Horner's method here?
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Added a TODO for someone to do this in a separate PR.
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CI tests are failing due to issue #321. Need to fix before merging. |
…hon-control#314) * creates a new function `config.use_numpy_matrix()` that allows either `np.array` or `np.matrix` for state space matrices + unit tests * allow D=0 to broadcast to correct size for MIMO statespace systems
…bug (python-control#365) PR python-control#314 duplicates a lot of code in the test cases by introducing *_array_test.py files. Thus issue python-control#190 addressed in PR python-control#320 resurfaces and needs to be introduced to robust_array_test.pyas well.
This PR addresses issue #233 regarding (eventual) deprecation of the
numpy.matrixclass. In this PR, state space objects are stored as eithernumpy.matrix(default) ornumpy.arrayobjects, with the selection determined based on theuse_numpy_array()function.For backward compatibility, the
numpy.matrixclass is the current default, but all operations are compatible with usingnumpy.arrayas the default storage and output class and this will be the default whennumpy.matrixis deprecated.A set of unit tests is also included for testing basic operations when the
numpy.arrayclass is used as the state space storage and output class. This PR does not convert all of the existing unit tests to usenumpy.arrayinstead ofnumpy.matrix, so there are still lots of warning messages. At some point we will need to update all unit tests to work withnumpy.arrayobjects (as we as done in abandoned PR #292).