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I/O system improvements: linearize, interconnect, docstrings #497

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Merged
merged 12 commits into from
Jan 5, 2021
Merged

I/O system improvements: linearize, interconnect, docstrings #497

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fa041b6
allow naming of linearized system signals
murrayrm Dec 29, 2020
4f08382
PEP8 cleanup
murrayrm Jan 1, 2021
e343a33
append _linearize for system name + unit tests
murrayrm Jan 1, 2021
50e61a0
add keyword to geterate strictly proper rss systems
murrayrm Jan 1, 2021
4e46c4a
update docs, tests for InterconnectedSystem + small refactoring of ga…
murrayrm Jan 1, 2021
da04036
create LinearInterconnectedSystems for interconnections of linear sys…
murrayrm Jan 2, 2021
ff4a351
turn off selected unit tests for scipy-0.19
murrayrm Jan 2, 2021
4f04f48
updated sphinx documentation + changed to LinearICSystem
murrayrm Jan 2, 2021
14fc96e
allow default linearized system name to be customized
murrayrm Jan 3, 2021
e767986
fix bug in iosys unit test (reset_defaults)
murrayrm Jan 3, 2021
488edf5
use editdefaults fixture and matrixfilter mark for unit testing
murrayrm Jan 5, 2021
5ed0f96
fix issue with np.matrix deprecation in iosys_test.py
murrayrm Jan 5, 2021
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7 changes: 7 additions & 0 deletions control/bdalg.py
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Original file line number Diff line number Diff line change
Expand Up @@ -326,6 +326,13 @@ def connect(sys, Q, inputv, outputv):
>>> Q = [[1, 2], [2, -1]] # negative feedback interconnection
>>> sysc = connect(sys, Q, [2], [1, 2])

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.

"""
inputv, outputv, Q = np.asarray(inputv), np.asarray(outputv), np.asarray(Q)
# check indices
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8 changes: 8 additions & 0 deletions control/config.py
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Expand Up @@ -215,7 +215,15 @@ def use_legacy_defaults(version):
if major == 0 and minor < 9:
# switched to 'array' as default for state space objects
set_defaults('statesp', use_numpy_matrix=True)

# switched to 0 (=continuous) as default timestep
set_defaults('control', default_dt=None)

# changed iosys naming conventions
set_defaults('iosys', state_name_delim='.',
duplicate_system_name_prefix='copy of ',
duplicate_system_name_suffix='',
linearized_system_name_prefix='',
linearized_system_name_suffix='_linearized')

return (major, minor, patch)
693 changes: 448 additions & 245 deletions control/iosys.py
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17 changes: 11 additions & 6 deletions control/statesp.py
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Expand Up @@ -1264,7 +1264,7 @@ def _convertToStateSpace(sys, **kw):


# TODO: add discrete time option
def _rss_generate(states, inputs, outputs, type):
def _rss_generate(states, inputs, outputs, type, strictly_proper=False):
"""Generate a random state space.

This does the actual random state space generation expected from rss and
Expand Down Expand Up @@ -1374,7 +1374,7 @@ def _rss_generate(states, inputs, outputs, type):
# Apply masks.
B = B * Bmask
C = C * Cmask
D = D * Dmask
D = D * Dmask if not strictly_proper else zeros(D.shape)

return StateSpace(A, B, C, D)

Expand Down Expand Up @@ -1649,7 +1649,7 @@ def tf2ss(*args):
raise ValueError("Needs 1 or 2 arguments; received %i." % len(args))


def rss(states=1, outputs=1, inputs=1):
def rss(states=1, outputs=1, inputs=1, strictly_proper=False):
"""
Create a stable *continuous* random state space object.

Expand All @@ -1661,6 +1661,9 @@ def rss(states=1, outputs=1, inputs=1):
Number of system inputs
outputs : integer
Number of system outputs
strictly_proper : bool, optional
If set to 'True', returns a proper system (no direct term). Default
value is 'False'.

Returns
-------
Expand All @@ -1684,10 +1687,11 @@ def rss(states=1, outputs=1, inputs=1):

"""

return _rss_generate(states, inputs, outputs, 'c')
return _rss_generate(states, inputs, outputs, 'c',
strictly_proper=strictly_proper)


def drss(states=1, outputs=1, inputs=1):
def drss(states=1, outputs=1, inputs=1, strictly_proper=False):
"""
Create a stable *discrete* random state space object.

Expand Down Expand Up @@ -1722,7 +1726,8 @@ def drss(states=1, outputs=1, inputs=1):

"""

return _rss_generate(states, inputs, outputs, 'd')
return _rss_generate(states, inputs, outputs, 'd',
strictly_proper=strictly_proper)


def ssdata(sys):
Expand Down
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