Movatterモバイル変換

[0]ホーム
URL:

Skip to content

Navigation Menu

Sign in
Appearance settings

Search code, repositories, users, issues, pull requests...

Provide feedback

We read every piece of feedback, and take your input very seriously.

Saved searches

Use saved searches to filter your results more quickly

 Sign up
Appearance settings

Commit03322ff

Browse files
committed
standardize use of squeeze and return_x in time response functions
1 parentb02b69b commit03322ff

File tree

11 files changed

+282
-109
lines changed

11 files changed

+282
-109
lines changed

‎control/frdata.py

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -398,7 +398,7 @@ def eval(self, omega, squeeze=None):
398398
out=out[0][0]
399399
returnout
400400

401-
def__call__(self,s,squeeze=True):
401+
def__call__(self,s,squeeze=None):
402402
"""Evaluate system's transfer function at complex frequencies.
403403
404404
Returns the complex frequency response `sys(s)` of system `sys` with

‎control/iosys.py

Lines changed: 11 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -1353,7 +1353,7 @@ def __init__(self, io_sys, ss_sys=None):
13531353

13541354

13551355
definput_output_response(sys,T,U=0.,X0=0,params={},method='RK45',
1356-
return_x=False,squeeze=True):
1356+
return_x=False,squeeze=None):
13571357

13581358
"""Compute the output response of a system to a given input.
13591359
@@ -1373,9 +1373,9 @@ def input_output_response(sys, T, U=0., X0=0, params={}, method='RK45',
13731373
return_x : bool, optional
13741374
If True, return the values of the state at each time (default = False).
13751375
squeeze : bool, optional
1376-
If True(default), squeeze unused dimensions out of the output
1377-
response. In particular, for a single output system, return a
1378-
vector of shape (nsteps) instead of (nsteps, 1).
1376+
If Trueand if the system has a single output, return the
1377+
system output as a 1D array rather than a 2D array. Default
1378+
value (True) set by config.defaults['control.squeeze'].
13791379
13801380
Returns
13811381
-------
@@ -1398,6 +1398,9 @@ def input_output_response(sys, T, U=0., X0=0, params={}, method='RK45',
13981398
ifnotisinstance(sys,InputOutputSystem):
13991399
raiseTypeError("System of type ",type(sys)," not valid")
14001400

1401+
ifsqueezeisNone:
1402+
squeeze=config.defaults['control.squeeze']
1403+
14011404
# Compute the time interval and number of steps
14021405
T0,Tf=T[0],T[-1]
14031406
n_steps=len(T)
@@ -1420,8 +1423,8 @@ def input_output_response(sys, T, U=0., X0=0, params={}, method='RK45',
14201423
foriinrange(len(T)):
14211424
u=U[i]iflen(U.shape)==1elseU[:,i]
14221425
y[:,i]=sys._out(T[i], [],u)
1423-
ifsqueeze:
1424-
y=np.squeeze(y)
1426+
ifsqueezeandy.shape[0]==1:
1427+
y=y[0]
14251428
ifreturn_x:
14261429
returnT,y, []
14271430
else:
@@ -1501,8 +1504,8 @@ def ivp_rhs(t, x): return sys._rhs(t, x, u(t))
15011504
raiseTypeError("Can't determine system type")
15021505

15031506
# Get rid of extra dimensions in the output, of desired
1504-
ifsqueeze:
1505-
y=np.squeeze(y)
1507+
ifsqueezeandy.shape[0]==1:
1508+
y=y[0]
15061509

15071510
ifreturn_x:
15081511
returnsoln.t,y,soln.y

‎control/matlab/timeresp.py

Lines changed: 2 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -273,5 +273,6 @@ def lsim(sys, U=0., T=None, X0=0.):
273273
>>> yout, T, xout = lsim(sys, U, T, X0)
274274
'''
275275
from ..timerespimportforced_response
276-
T,yout,xout=forced_response(sys,T,U,X0,transpose=True)
276+
T,yout,xout=forced_response(
277+
sys,T,U,X0,return_x=True,transpose=True)
277278
returnyout,T,xout

‎control/statesp.py

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -646,9 +646,9 @@ def __call__(self, x, squeeze=None):
646646
Returns the complex frequency response `sys(x)` where `x` is `s` for
647647
continuous-time systems and `z` for discrete-time systems.
648648
649-
In general the system may be multiple input, multiple output (MIMO), where
650-
`m = self.inputs` number of inputs and `p = self.outputs` number of
651-
outputs.
649+
In general the system may be multiple input, multiple output
650+
(MIMO), where`m = self.inputs` number of inputs and `p =
651+
self.outputs` number ofoutputs.
652652
653653
To evaluate at a frequency omega in radians per second, enter
654654
``x = omega * 1j``, for continuous-time systems, or

‎control/tests/discrete_test.py

Lines changed: 9 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -353,9 +353,15 @@ def testSimulation(self, tsys):
353353
tout,yout=step_response(tsys.siso_ss1d,T)
354354
tout,yout=impulse_response(tsys.siso_ss1d)
355355
tout,yout=impulse_response(tsys.siso_ss1d,T)
356-
tout,yout,xout=forced_response(tsys.siso_ss1d,T,U,0)
357-
tout,yout,xout=forced_response(tsys.siso_ss2d,T,U,0)
358-
tout,yout,xout=forced_response(tsys.siso_ss3d,T,U,0)
356+
tout,yout=forced_response(tsys.siso_ss1d,T,U,0)
357+
tout,yout=forced_response(tsys.siso_ss2d,T,U,0)
358+
tout,yout=forced_response(tsys.siso_ss3d,T,U,0)
359+
tout,yout,xout=forced_response(
360+
tsys.siso_ss1d,T,U,0,return_x=True)
361+
tout,yout,xout=forced_response(
362+
tsys.siso_ss2d,T,U,0,return_x=True)
363+
tout,yout,xout=forced_response(
364+
tsys.siso_ss3d,T,U,0,return_x=True)
359365

360366
deftest_sample_system(self,tsys):
361367
# Make sure we can convert various types of systems

‎control/tests/flatsys_test.py

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -48,7 +48,7 @@ def test_double_integrator(self, xf, uf, Tf):
4848
T=np.linspace(0,Tf,100)
4949
xd,ud=traj.eval(T)
5050

51-
t,y,x=ct.forced_response(sys,T,ud,x1)
51+
t,y,x=ct.forced_response(sys,T,ud,x1,return_x=True)
5252
np.testing.assert_array_almost_equal(x,xd,decimal=3)
5353

5454
deftest_kinematic_car(self):

‎control/tests/iosys_test.py

Lines changed: 29 additions & 26 deletions
Original file line numberDiff line numberDiff line change
@@ -61,7 +61,7 @@ def test_linear_iosys(self, tsys):
6161

6262
# Make sure that simulations also line up
6363
T,U,X0=tsys.T,tsys.U,tsys.X0
64-
lti_t,lti_y,lti_x=ct.forced_response(linsys,T,U,X0)
64+
lti_t,lti_y=ct.forced_response(linsys,T,U,X0)
6565
ios_t,ios_y=ios.input_output_response(iosys,T,U,X0)
6666
np.testing.assert_array_almost_equal(lti_t,ios_t)
6767
np.testing.assert_allclose(lti_y,ios_y,atol=0.002,rtol=0.)
@@ -75,7 +75,7 @@ def test_tf2io(self, tsys):
7575

7676
# Verify correctness via simulation
7777
T,U,X0=tsys.T,tsys.U,tsys.X0
78-
lti_t,lti_y,lti_x=ct.forced_response(linsys,T,U,X0)
78+
lti_t,lti_y=ct.forced_response(linsys,T,U,X0)
7979
ios_t,ios_y=ios.input_output_response(iosys,T,U,X0)
8080
np.testing.assert_array_almost_equal(lti_t,ios_t)
8181
np.testing.assert_allclose(lti_y,ios_y,atol=0.002,rtol=0.)
@@ -84,7 +84,7 @@ def test_tf2io(self, tsys):
8484
tfsys=ct.tf('s')
8585
withpytest.raises(ValueError):
8686
iosys=ct.tf2io(tfsys)
87-
87+
8888
deftest_ss2io(self,tsys):
8989
# Create an input/output system from the linear system
9090
linsys=tsys.siso_linsys
@@ -162,7 +162,7 @@ def test_nonlinear_iosys(self, tsys):
162162

163163
# Make sure that simulations also line up
164164
T,U,X0=tsys.T,tsys.U,tsys.X0
165-
lti_t,lti_y,lti_x=ct.forced_response(linsys,T,U,X0)
165+
lti_t,lti_y=ct.forced_response(linsys,T,U,X0)
166166
ios_t,ios_y=ios.input_output_response(nlsys,T,U,X0)
167167
np.testing.assert_array_almost_equal(lti_t,ios_t)
168168
np.testing.assert_allclose(lti_y,ios_y,atol=0.002,rtol=0.)
@@ -256,7 +256,7 @@ def test_connect(self, tsys):
256256
X0=np.concatenate((tsys.X0,tsys.X0))
257257
ios_t,ios_y,ios_x=ios.input_output_response(
258258
iosys_series,T,U,X0,return_x=True)
259-
lti_t,lti_y,lti_x=ct.forced_response(linsys_series,T,U,X0)
259+
lti_t,lti_y=ct.forced_response(linsys_series,T,U,X0)
260260
np.testing.assert_array_almost_equal(lti_t,ios_t)
261261
np.testing.assert_allclose(lti_y,ios_y,atol=0.002,rtol=0.)
262262

@@ -273,7 +273,7 @@ def test_connect(self, tsys):
273273
assertct.isctime(iosys_series,strict=True)
274274
ios_t,ios_y,ios_x=ios.input_output_response(
275275
iosys_series,T,U,X0,return_x=True)
276-
lti_t,lti_y,lti_x=ct.forced_response(linsys_series,T,U,X0)
276+
lti_t,lti_y=ct.forced_response(linsys_series,T,U,X0)
277277
np.testing.assert_array_almost_equal(lti_t,ios_t)
278278
np.testing.assert_allclose(lti_y,ios_y,atol=0.002,rtol=0.)
279279

@@ -288,7 +288,7 @@ def test_connect(self, tsys):
288288
)
289289
ios_t,ios_y,ios_x=ios.input_output_response(
290290
iosys_feedback,T,U,X0,return_x=True)
291-
lti_t,lti_y,lti_x=ct.forced_response(linsys_feedback,T,U,X0)
291+
lti_t,lti_y=ct.forced_response(linsys_feedback,T,U,X0)
292292
np.testing.assert_array_almost_equal(lti_t,ios_t)
293293
np.testing.assert_allclose(lti_y,ios_y,atol=0.002,rtol=0.)
294294

@@ -325,7 +325,8 @@ def test_connect_spec_variants(self, tsys, connections, inplist, outlist):
325325
# Create a simulation run to compare against
326326
T,U=tsys.T,tsys.U
327327
X0=np.concatenate((tsys.X0,tsys.X0))
328-
lti_t,lti_y,lti_x=ct.forced_response(linsys_series,T,U,X0)
328+
lti_t,lti_y,lti_x=ct.forced_response(
329+
linsys_series,T,U,X0,return_x=True)
329330

330331
# Create the input/output system with different parameter variations
331332
iosys_series=ios.InterconnectedSystem(
@@ -360,7 +361,8 @@ def test_connect_spec_warnings(self, tsys, connections, inplist, outlist):
360361
# Create a simulation run to compare against
361362
T,U=tsys.T,tsys.U
362363
X0=np.concatenate((tsys.X0,tsys.X0))
363-
lti_t,lti_y,lti_x=ct.forced_response(linsys_series,T,U,X0)
364+
lti_t,lti_y,lti_x=ct.forced_response(
365+
linsys_series,T,U,X0,return_x=True)
364366

365367
# Set up multiple gainst and make sure a warning is generated
366368
withpytest.warns(UserWarning,match="multiple.*Combining"):
@@ -388,7 +390,8 @@ def test_static_nonlinearity(self, tsys):
388390

389391
# Make sure saturation works properly by comparing linear system with
390392
# saturated input to nonlinear system with saturation composition
391-
lti_t,lti_y,lti_x=ct.forced_response(linsys,T,Usat,X0)
393+
lti_t,lti_y,lti_x=ct.forced_response(
394+
linsys,T,Usat,X0,return_x=True)
392395
ios_t,ios_y,ios_x=ios.input_output_response(
393396
ioslin*nlsat,T,U,X0,return_x=True)
394397
np.testing.assert_array_almost_equal(lti_t,ios_t)
@@ -424,7 +427,7 @@ def test_algebraic_loop(self, tsys):
424427
# Nonlinear system composed with LTI system (series) -- with states
425428
ios_t,ios_y=ios.input_output_response(
426429
nlios*lnios*nlios,T,U,X0)
427-
lti_t,lti_y,lti_x=ct.forced_response(linsys,T,U*U,X0)
430+
lti_t,lti_y,=ct.forced_response(linsys,T,U*U,X0)
428431
np.testing.assert_array_almost_equal(ios_y,lti_y*lti_y,decimal=3)
429432

430433
# Nonlinear system in feeback loop with LTI system
@@ -480,7 +483,7 @@ def test_summer(self, tsys):
480483
U= [np.sin(T),np.cos(T)]
481484
X0=0
482485

483-
lin_t,lin_y,lin_x=ct.forced_response(linsys_parallel,T,U,X0)
486+
lin_t,lin_y,=ct.forced_response(linsys_parallel,T,U,X0)
484487
ios_t,ios_y=ios.input_output_response(iosys_parallel,T,U,X0)
485488
np.testing.assert_allclose(ios_y,lin_y,atol=0.002,rtol=0.)
486489

@@ -502,7 +505,7 @@ def test_rmul(self, tsys):
502505

503506
# Make sure we got the right thing (via simulation comparison)
504507
ios_t,ios_y=ios.input_output_response(sys2,T,U,X0)
505-
lti_t,lti_y,lti_x=ct.forced_response(ioslin,T,U*U,X0)
508+
lti_t,lti_y=ct.forced_response(ioslin,T,U*U,X0)
506509
np.testing.assert_array_almost_equal(ios_y,lti_y*lti_y,decimal=3)
507510

508511
@noscipy0
@@ -525,7 +528,7 @@ def test_neg(self, tsys):
525528

526529
# Make sure we got the right thing (via simulation comparison)
527530
ios_t,ios_y=ios.input_output_response(sys,T,U,X0)
528-
lti_t,lti_y,lti_x=ct.forced_response(ioslin,T,U*U,X0)
531+
lti_t,lti_y=ct.forced_response(ioslin,T,U*U,X0)
529532
np.testing.assert_array_almost_equal(ios_y,-lti_y,decimal=3)
530533

531534
@noscipy0
@@ -541,7 +544,7 @@ def test_feedback(self, tsys):
541544
linsys=ct.feedback(tsys.siso_linsys,1)
542545

543546
ios_t,ios_y=ios.input_output_response(iosys,T,U,X0)
544-
lti_t,lti_y,lti_x=ct.forced_response(linsys,T,U,X0)
547+
lti_t,lti_y=ct.forced_response(linsys,T,U,X0)
545548
np.testing.assert_allclose(ios_y,lti_y,atol=0.002,rtol=0.)
546549

547550
@noscipy0
@@ -561,33 +564,33 @@ def test_bdalg_functions(self, tsys):
561564
# Series interconnection
562565
linsys_series=ct.series(linsys1,linsys2)
563566
iosys_series=ct.series(linio1,linio2)
564-
lin_t,lin_y,lin_x=ct.forced_response(linsys_series,T,U,X0)
567+
lin_t,lin_y=ct.forced_response(linsys_series,T,U,X0)
565568
ios_t,ios_y=ios.input_output_response(iosys_series,T,U,X0)
566569
np.testing.assert_allclose(ios_y,lin_y,atol=0.002,rtol=0.)
567570

568571
# Make sure that systems don't commute
569572
linsys_series=ct.series(linsys2,linsys1)
570-
lin_t,lin_y,lin_x=ct.forced_response(linsys_series,T,U,X0)
573+
lin_t,lin_y=ct.forced_response(linsys_series,T,U,X0)
571574
assertnot (np.abs(lin_y-ios_y)<1e-3).all()
572575

573576
# Parallel interconnection
574577
linsys_parallel=ct.parallel(linsys1,linsys2)
575578
iosys_parallel=ct.parallel(linio1,linio2)
576-
lin_t,lin_y,lin_x=ct.forced_response(linsys_parallel,T,U,X0)
579+
lin_t,lin_y=ct.forced_response(linsys_parallel,T,U,X0)
577580
ios_t,ios_y=ios.input_output_response(iosys_parallel,T,U,X0)
578581
np.testing.assert_allclose(ios_y,lin_y,atol=0.002,rtol=0.)
579582

580583
# Negation
581584
linsys_negate=ct.negate(linsys1)
582585
iosys_negate=ct.negate(linio1)
583-
lin_t,lin_y,lin_x=ct.forced_response(linsys_negate,T,U,X0)
586+
lin_t,lin_y=ct.forced_response(linsys_negate,T,U,X0)
584587
ios_t,ios_y=ios.input_output_response(iosys_negate,T,U,X0)
585588
np.testing.assert_allclose(ios_y,lin_y,atol=0.002,rtol=0.)
586589

587590
# Feedback interconnection
588591
linsys_feedback=ct.feedback(linsys1,linsys2)
589592
iosys_feedback=ct.feedback(linio1,linio2)
590-
lin_t,lin_y,lin_x=ct.forced_response(linsys_feedback,T,U,X0)
593+
lin_t,lin_y=ct.forced_response(linsys_feedback,T,U,X0)
591594
ios_t,ios_y=ios.input_output_response(iosys_feedback,T,U,X0)
592595
np.testing.assert_allclose(ios_y,lin_y,atol=0.002,rtol=0.)
593596

@@ -614,13 +617,13 @@ def test_nonsquare_bdalg(self, tsys):
614617
# Multiplication
615618
linsys_multiply=linsys_3i2o*linsys_2i3o
616619
iosys_multiply=iosys_3i2o*iosys_2i3o
617-
lin_t,lin_y,lin_x=ct.forced_response(linsys_multiply,T,U2,X0)
620+
lin_t,lin_y=ct.forced_response(linsys_multiply,T,U2,X0)
618621
ios_t,ios_y=ios.input_output_response(iosys_multiply,T,U2,X0)
619622
np.testing.assert_allclose(ios_y,lin_y,atol=0.002,rtol=0.)
620623

621624
linsys_multiply=linsys_2i3o*linsys_3i2o
622625
iosys_multiply=iosys_2i3o*iosys_3i2o
623-
lin_t,lin_y,lin_x=ct.forced_response(linsys_multiply,T,U3,X0)
626+
lin_t,lin_y=ct.forced_response(linsys_multiply,T,U3,X0)
624627
ios_t,ios_y=ios.input_output_response(iosys_multiply,T,U3,X0)
625628
np.testing.assert_allclose(ios_y,lin_y,atol=0.002,rtol=0.)
626629

@@ -633,7 +636,7 @@ def test_nonsquare_bdalg(self, tsys):
633636
# Feedback
634637
linsys_multiply=ct.feedback(linsys_3i2o,linsys_2i3o)
635638
iosys_multiply=iosys_3i2o.feedback(iosys_2i3o)
636-
lin_t,lin_y,lin_x=ct.forced_response(linsys_multiply,T,U3,X0)
639+
lin_t,lin_y=ct.forced_response(linsys_multiply,T,U3,X0)
637640
ios_t,ios_y=ios.input_output_response(iosys_multiply,T,U3,X0)
638641
np.testing.assert_allclose(ios_y,lin_y,atol=0.002,rtol=0.)
639642

@@ -655,7 +658,7 @@ def test_discrete(self, tsys):
655658

656659
# Simulate and compare to LTI output
657660
ios_t,ios_y=ios.input_output_response(lnios,T,U,X0)
658-
lin_t,lin_y,lin_x=ct.forced_response(linsys,T,U,X0)
661+
lin_t,lin_y=ct.forced_response(linsys,T,U,X0)
659662
np.testing.assert_allclose(ios_t,lin_t,atol=0.002,rtol=0.)
660663
np.testing.assert_allclose(ios_y,lin_y,atol=0.002,rtol=0.)
661664

@@ -671,7 +674,7 @@ def test_discrete(self, tsys):
671674

672675
# Simulate and compare to LTI output
673676
ios_t,ios_y=ios.input_output_response(lnios,T,U,X0)
674-
lin_t,lin_y,lin_x=ct.forced_response(linsys,T,U,X0)
677+
lin_t,lin_y=ct.forced_response(linsys,T,U,X0)
675678
np.testing.assert_allclose(ios_t,lin_t,atol=0.002,rtol=0.)
676679
np.testing.assert_allclose(ios_y,lin_y,atol=0.002,rtol=0.)
677680

@@ -839,7 +842,7 @@ def test_params(self, tsys):
839842
linsys=tsys.siso_linsys
840843
iosys=ios.LinearIOSystem(linsys)
841844
T,U,X0=tsys.T,tsys.U,tsys.X0
842-
lti_t,lti_y,lti_x=ct.forced_response(linsys,T,U,X0)
845+
lti_t,lti_y=ct.forced_response(linsys,T,U,X0)
843846
withpytest.warns(UserWarning,match="LinearIOSystem.*ignored"):
844847
ios_t,ios_y=ios.input_output_response(
845848
iosys,T,U,X0,params={'something':0})

0 commit comments

Comments
 (0)
[8]ページ先頭
©2009-2025 Movatter.jp