Fixing bug in timeresp.forced_response #336
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…ueError when applied to discrete sys with T=None.
murrayrm
reviewed
Aug 9, 2019
control/timeresp.py
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| if len(U) != len(T): | ||
| ValueError('Pamameter ``T`` must have same length as' | ||
| 'input vector ``U``') | ||
| if (len(U.shape) == 1 and U.shape[0] != T.shape[0]) or (len(U.shape) > 1 and U.shape[1] != T.shape[0]): |
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Not sure if this fits in 78 columns. If not, break into two lines (at or)?
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I've broken this line in the updated PR.
control/timeresp.py
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| else: | ||
| # Make sure the input vector and time vector have same length | ||
| # TODO: allow interpolation of the input vector |
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Leave this comment in, since at some point we would like to allow "subsampling"
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I have re-added this comment in the updated PR.
bnavigator
reviewed
Aug 9, 2019
control/timeresp.py
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| # Set and/or check time vector in discrete time case | ||
| if isdtime(sys, strict=True): | ||
| if T is None: | ||
| if U is None: | ||
| raise ValueError('Parameters ``T`` and ``U`` can\'t both be' | ||
| 'zero for discrete-time simulation') | ||
| # Set T to equally spaced samples with same length as U | ||
| T = np.array(range(len(U))) * (1 if sys.dt is True else sys.dt) | ||
| if len(U.shape) == 1: |
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I have replaced all instances of range(len(U)) with U.ndim in the updated PR.
control/timeresp.py
Outdated
| if len(U) != len(T): | ||
| ValueError('Pamameter ``T`` must have same length as' | ||
| 'input vector ``U``') | ||
| if (len(U.shape) == 1 and U.shape[0] != T.shape[0]) or (len(U.shape) > 1 and U.shape[1] != T.shape[0]): |
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Consider U.ndim instead of len(U.shape)
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I have replaced all instances of range(len(U)) with U.ndim in the updated PR.
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When forced_response was called with a discrete MIMO sys and T=None, the following error occurred:
Traceback (most recent call last): File "/home/andrew/Apps/python-control/control/tests/timeresp_test.py", line 281, in test_forced_response _t, yout, _xout = forced_response(sysd, U=u, X0=x0) File "/home/andrew/Apps/python-control/control/timeresp.py", line 374, in forced_response tout, yout, xout = sp.signal.dlsim(dsys, np.transpose(U), T, X0) File "/home/andrew/.virtualenvs/python-control-dev/local/lib/python2.7/site-packages/scipy/signal/ltisys.py", line 3327, in dlsim u_dt_interp = interp1d(t, u.transpose(), copy=False, bounds_error=True) File "/home/andrew/.virtualenvs/python-control-dev/local/lib/python2.7/site-packages/scipy/interpolate/interpolate.py", line 433, in __init__ _Interpolator1D.__init__(self, x, y, axis=axis) File "/home/andrew/.virtualenvs/python-control-dev/local/lib/python2.7/site-packages/scipy/interpolate/polyint.py", line 60, in __init__ self._set_yi(yi, xi=xi, axis=axis) File "/home/andrew/.virtualenvs/python-control-dev/local/lib/python2.7/site-packages/scipy/interpolate/polyint.py", line 125, in _set_yi raise ValueError("x and y arrays must be equal in length along " ValueError: x and y arrays must be equal in length along interpolation axis.Fix: