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vectorize FRD feedback function #680

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Merged
merged 2 commits into from
Dec 26, 2021
Merged

vectorize FRD feedback function #680

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323ae3d
vectorize FRD feedback function
bnavigator Dec 2, 2021
37c95b6
Merge branch 'master' into vector-frd-feedback
bnavigator Dec 26, 2021
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17 changes: 8 additions & 9 deletions control/frdata.py
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Original file line number Diff line number Diff line change
Expand Up @@ -535,16 +535,15 @@ def feedback(self, other=1, sign=-1):
if (self.noutputs != other.ninputs or self.ninputs != other.noutputs):
raise ValueError(
"FRD.feedback, inputs/outputs mismatch")
fresp = empty((self.noutputs, self.ninputs, len(other.omega)),
dtype=complex)
# TODO: vectorize this

# TODO: handle omega re-mapping
# TODO: is there a reason to use linalg.solve instead of linalg.inv?
# https://github.com/python-control/python-control/pull/314#discussion_r294075154
for k, w in enumerate(other.omega):
fresp[:, :, k] = self.fresp[:, :, k] @ linalg.solve(
eye(self.ninputs) + other.fresp[:, :, k] @ self.fresp[:, :, k],
eye(self.ninputs))

# reorder array axes in order to leverage numpy broadcasting
myfresp = np.moveaxis(self.fresp, 2, 0)
otherfresp = np.moveaxis(other.fresp, 2, 0)
I_AB = eye(self.ninputs)[np.newaxis, :, :] + otherfresp @ myfresp
resfresp = (myfresp @ linalg.inv(I_AB))
fresp = np.moveaxis(resfresp, 0, 2)

return FRD(fresp, other.omega, smooth=(self.ifunc is not None))

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