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Commit0f03778

Browse files
Merge branch 'python-control:main' into main
2 parents0f08b1e +ad6b49e commit0f03778

19 files changed

+930
-137
lines changed

‎control/bdalg.py

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -201,11 +201,11 @@ def negate(sys):
201201
--------
202202
>>> G = ct.tf([2], [1, 1])
203203
>>> G.dcgain()
204-
2.0
204+
np.float64(2.0)
205205
206206
>>> Gn = ct.negate(G) # Same as sys2 = -sys1.
207207
>>> Gn.dcgain()
208-
-2.0
208+
np.float64(-2.0)
209209
210210
"""
211211
return-sys

‎control/descfcn.py

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -525,11 +525,11 @@ class saturation_nonlinearity(DescribingFunctionNonlinearity):
525525
--------
526526
>>> nl = ct.saturation_nonlinearity(5)
527527
>>> nl(1)
528-
1
528+
np.int64(1)
529529
>>> nl(10)
530-
5
530+
np.int64(5)
531531
>>> nl(-10)
532-
-5
532+
np.int64(-5)
533533
534534
"""
535535
def__init__(self,ub=1,lb=None):

‎control/freqplot.py

Lines changed: 25 additions & 19 deletions
Original file line numberDiff line numberDiff line change
@@ -1919,7 +1919,7 @@ def _parse_linestyle(style_name, allow_false=False):
19191919
# Internal function to add arrows to a curve
19201920
def_add_arrows_to_line2D(
19211921
axes,line,arrow_locs=[0.2,0.4,0.6,0.8],
1922-
arrowstyle='-|>',arrowsize=1,dir=1,transform=None):
1922+
arrowstyle='-|>',arrowsize=1,dir=1):
19231923
"""
19241924
Add arrows to a matplotlib.lines.Line2D at selected locations.
19251925
@@ -1930,7 +1930,6 @@ def _add_arrows_to_line2D(
19301930
arrow_locs: list of locations where to insert arrows, % of total length
19311931
arrowstyle: style of the arrow
19321932
arrowsize: size of the arrow
1933-
transform: a matplotlib transform instance, default to data coordinates
19341933
19351934
Returns:
19361935
--------
@@ -1939,13 +1938,13 @@ def _add_arrows_to_line2D(
19391938
Based on https://stackoverflow.com/questions/26911898/
19401939
19411940
"""
1941+
# Get the coordinates of the line, in plot coordinates
19421942
ifnotisinstance(line,mpl.lines.Line2D):
19431943
raiseValueError("expected a matplotlib.lines.Line2D object")
19441944
x,y=line.get_xdata(),line.get_ydata()
19451945

1946-
arrow_kw= {
1947-
"arrowstyle":arrowstyle,
1948-
}
1946+
# Determine the arrow properties
1947+
arrow_kw= {"arrowstyle":arrowstyle}
19491948

19501949
color=line.get_color()
19511950
use_multicolor_lines=isinstance(color,np.ndarray)
@@ -1960,36 +1959,43 @@ def _add_arrows_to_line2D(
19601959
else:
19611960
arrow_kw['linewidth']=linewidth
19621961

1963-
iftransformisNone:
1964-
transform=axes.transData
1962+
# Figure out the size of the axes (length of diagonal)
1963+
xlim,ylim=axes.get_xlim(),axes.get_ylim()
1964+
ul,lr=np.array([xlim[0],ylim[0]]),np.array([xlim[1],ylim[1]])
1965+
diag=np.linalg.norm(ul-lr)
19651966

19661967
# Compute the arc length along the curve
19671968
s=np.cumsum(np.sqrt(np.diff(x)**2+np.diff(y)**2))
19681969

1970+
# Truncate the number of arrows if the curve is short
1971+
# TODO: figure out a smarter way to do this
1972+
frac=min(s[-1]/diag,1)
1973+
iflen(arrow_locs)andfrac<0.05:
1974+
arrow_locs= []# too short; no arrows at all
1975+
eliflen(arrow_locs)andfrac<0.2:
1976+
arrow_locs= [0.5]# single arrow in the middle
1977+
1978+
# Plot the arrows (and return list if patches)
19691979
arrows= []
19701980
forlocinarrow_locs:
19711981
n=np.searchsorted(s,s[-1]*loc)
19721982

1973-
# Figure out what direction to paint the arrow
1974-
ifdir==1:
1975-
arrow_tail= (x[n],y[n])
1976-
arrow_head= (np.mean(x[n:n+2]),np.mean(y[n:n+2]))
1977-
elifdir==-1:
1978-
# Orient the arrow in the other direction on the segment
1979-
arrow_tail= (x[n+1],y[n+1])
1980-
arrow_head= (np.mean(x[n:n+2]),np.mean(y[n:n+2]))
1981-
else:
1982-
raiseValueError("unknown value for keyword 'dir'")
1983+
ifdir==1andn==0:
1984+
# Move the arrow forward by one if it is at start of a segment
1985+
n=1
1986+
1987+
# Place the head of the arrow at the desired location
1988+
arrow_head= [x[n],y[n]]
1989+
arrow_tail= [x[n-dir],y[n-dir]]
19831990

19841991
p=mpl.patches.FancyArrowPatch(
1985-
arrow_tail,arrow_head,transform=transform,lw=0,
1992+
arrow_tail,arrow_head,transform=axes.transData,lw=0,
19861993
**arrow_kw)
19871994
axes.add_patch(p)
19881995
arrows.append(p)
19891996
returnarrows
19901997

19911998

1992-
19931999
#
19942000
# Function to compute Nyquist curve offsets
19952001
#

‎control/lti.py

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -525,7 +525,7 @@ def dcgain(sys):
525525
--------
526526
>>> G = ct.tf([1], [1, 2])
527527
>>> ct.dcgain(G) # doctest: +SKIP
528-
0.5
528+
np.float(0.5)
529529
530530
"""
531531
returnsys.dcgain()

‎control/modelsimp.py

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -87,7 +87,7 @@ def hsvd(sys):
8787
>>> G = ct.tf2ss([1], [1, 2])
8888
>>> H = ct.hsvd(G)
8989
>>> H[0]
90-
0.25
90+
np.float64(0.25)
9191
9292
"""
9393
# TODO: implement for discrete time systems

‎control/nlsys.py

Lines changed: 58 additions & 36 deletions
Original file line numberDiff line numberDiff line change
@@ -18,16 +18,17 @@
1818
1919
"""
2020

21-
importnumpyasnp
22-
importscipyassp
2321
importcopy
2422
fromwarningsimportwarn
2523

24+
importnumpyasnp
25+
importscipyassp
26+
2627
from .importconfig
27-
from .iosysimportInputOutputSystem,_process_signal_list, \
28-
_process_iosys_keywords,isctime,isdtime,common_timebase,_parse_spec
29-
from .timerespimport_check_convert_array,_process_time_response, \
30-
TimeResponseData
28+
from .iosysimportInputOutputSystem,_parse_spec,_process_iosys_keywords, \
29+
_process_signal_list,common_timebase,isctime,isdtime
30+
from .timerespimportTimeResponseData,_check_convert_array, \
31+
_process_time_response
3132

3233
__all__= ['NonlinearIOSystem','InterconnectedSystem','nlsys',
3334
'input_output_response','find_eqpt','linearize',
@@ -132,13 +133,15 @@ def __init__(self, updfcn, outfcn=None, params=None, **kwargs):
132133
ifupdfcnisNone:
133134
ifself.nstatesisNone:
134135
self.nstates=0
136+
self.updfcn=lambdat,x,u,params:np.zeros(0)
135137
else:
136138
raiseValueError(
137139
"states specified but no update function given.")
138140

139141
ifoutfcnisNone:
140-
# No output function specified => outputs = states
141-
ifself.noutputsisNoneandself.nstatesisnotNone:
142+
ifself.noutputs==0:
143+
self.outfcn=lambdat,x,u,params:np.zeros(0)
144+
elifself.noutputsisNoneandself.nstatesisnotNone:
142145
self.noutputs=self.nstates
143146
elifself.noutputsisnotNoneandself.noutputs==self.nstates:
144147
# Number of outputs = number of states => all is OK
@@ -364,9 +367,8 @@ def _rhs(self, t, x, u):
364367
user-friendly interface you may want to use :meth:`dynamics`.
365368
366369
"""
367-
xdot=self.updfcn(t,x,u,self._current_params) \
368-
ifself.updfcnisnotNoneelse []
369-
returnnp.array(xdot).reshape((-1,))
370+
returnnp.asarray(
371+
self.updfcn(t,x,u,self._current_params)).reshape(-1)
370372

371373
defdynamics(self,t,x,u,params=None):
372374
"""Compute the dynamics of a differential or difference equation.
@@ -403,7 +405,8 @@ def dynamics(self, t, x, u, params=None):
403405
dx/dt or x[t+dt] : ndarray
404406
"""
405407
self._update_params(params)
406-
returnself._rhs(t,x,u)
408+
returnself._rhs(
409+
t,np.asarray(x).reshape(-1),np.asarray(u).reshape(-1))
407410

408411
def_out(self,t,x,u):
409412
"""Evaluate the output of a system at a given state, input, and time
@@ -414,9 +417,17 @@ def _out(self, t, x, u):
414417
:meth:`output`.
415418
416419
"""
417-
y=self.outfcn(t,x,u,self._current_params) \
418-
ifself.outfcnisnotNoneelsex
419-
returnnp.array(y).reshape((-1,))
420+
#
421+
# To allow lazy evaluation of the system size, we allow for the
422+
# possibility that noutputs is left unspecified when the system
423+
# is created => we have to check for that case here (and return
424+
# the system state or a portion of it).
425+
#
426+
ifself.outfcnisNone:
427+
returnxifself.noutputsisNoneelsex[:self.noutputs]
428+
else:
429+
returnnp.asarray(
430+
self.outfcn(t,x,u,self._current_params)).reshape(-1)
420431

421432
defoutput(self,t,x,u,params=None):
422433
"""Compute the output of the system
@@ -444,7 +455,8 @@ def output(self, t, x, u, params=None):
444455
y : ndarray
445456
"""
446457
self._update_params(params)
447-
returnself._out(t,x,u)
458+
returnself._out(
459+
t,np.asarray(x).reshape(-1),np.asarray(u).reshape(-1))
448460

449461
deffeedback(self,other=1,sign=-1,params=None):
450462
"""Feedback interconnection between two input/output systems
@@ -517,14 +529,13 @@ def linearize(self, x0, u0, t=0, params=None, eps=1e-6,
517529
# numerical linearization use the `_rhs()` and `_out()` member
518530
# functions.
519531
#
520-
521532
# If x0 and u0 are specified as lists, concatenate the elements
522533
x0=_concatenate_list_elements(x0,'x0')
523534
u0=_concatenate_list_elements(u0,'u0')
524535

525536
# Figure out dimensions if they were not specified.
526-
nstates=_find_size(self.nstates,x0)
527-
ninputs=_find_size(self.ninputs,u0)
537+
nstates=_find_size(self.nstates,x0,"states")
538+
ninputs=_find_size(self.ninputs,u0,"inputs")
528539

529540
# Convert x0, u0 to arrays, if needed
530541
ifnp.isscalar(x0):
@@ -533,7 +544,7 @@ def linearize(self, x0, u0, t=0, params=None, eps=1e-6,
533544
u0=np.ones((ninputs,))*u0
534545

535546
# Compute number of outputs by evaluating the output function
536-
noutputs=_find_size(self.noutputs,self._out(t,x0,u0))
547+
noutputs=_find_size(self.noutputs,self._out(t,x0,u0),"outputs")
537548

538549
# Update the current parameters
539550
self._update_params(params)
@@ -1306,7 +1317,7 @@ def nlsys(
13061317

13071318

13081319
definput_output_response(
1309-
sys,T,U=0.,X0=0,params=None,
1320+
sys,T,U=0.,X0=0,params=None,ignore_errors=False,
13101321
transpose=False,return_x=False,squeeze=None,
13111322
solve_ivp_kwargs=None,t_eval='T',**kwargs):
13121323
"""Compute the output response of a system to a given input.
@@ -1382,6 +1393,11 @@ def input_output_response(
13821393
to 'RK45'.
13831394
solve_ivp_kwargs : dict, optional
13841395
Pass additional keywords to :func:`scipy.integrate.solve_ivp`.
1396+
ignore_errors : bool, optional
1397+
If ``False`` (default), errors during computation of the trajectory
1398+
will raise a ``RuntimeError`` exception. If ``True``, do not raise
1399+
an exception and instead set ``results.success`` to ``False`` and
1400+
place an error message in ``results.message``.
13851401
13861402
Raises
13871403
------
@@ -1516,7 +1532,7 @@ def input_output_response(
15161532
X0=np.hstack([X0,np.zeros(sys.nstates-X0.size)])
15171533

15181534
# Compute the number of states
1519-
nstates=_find_size(sys.nstates,X0)
1535+
nstates=_find_size(sys.nstates,X0,"states")
15201536

15211537
# create X0 if not given, test if X0 has correct shape
15221538
X0=_check_convert_array(X0, [(nstates,), (nstates,1)],
@@ -1583,7 +1599,11 @@ def ivp_rhs(t, x):
15831599
ivp_rhs, (T0,Tf),X0,t_eval=t_eval,
15841600
vectorized=False,**solve_ivp_kwargs)
15851601
ifnotsoln.success:
1586-
raiseRuntimeError("solve_ivp failed: "+soln.message)
1602+
message="solve_ivp failed: "+soln.message
1603+
ifnotignore_errors:
1604+
raiseRuntimeError(message)
1605+
else:
1606+
message=None
15871607

15881608
# Compute inputs and outputs for each time point
15891609
u=np.zeros((ninputs,len(soln.t)))
@@ -1639,7 +1659,7 @@ def ivp_rhs(t, x):
16391659
u=np.transpose(np.array(u))
16401660

16411661
# Mark solution as successful
1642-
soln.success=True# No way to fail
1662+
soln.success,message=True,None# No way to fail
16431663

16441664
else:# Neither ctime or dtime??
16451665
raiseTypeError("Can't determine system type")
@@ -1649,7 +1669,8 @@ def ivp_rhs(t, x):
16491669
output_labels=sys.output_labels,input_labels=sys.input_labels,
16501670
state_labels=sys.state_labels,sysname=sys.name,
16511671
title="Input/output response for "+sys.name,
1652-
transpose=transpose,return_x=return_x,squeeze=squeeze)
1672+
transpose=transpose,return_x=return_x,squeeze=squeeze,
1673+
success=soln.success,message=message)
16531674

16541675

16551676
deffind_eqpt(sys,x0,u0=None,y0=None,t=0,params=None,
@@ -1732,9 +1753,9 @@ def find_eqpt(sys, x0, u0=None, y0=None, t=0, params=None,
17321753
fromscipy.optimizeimportroot
17331754

17341755
# Figure out the number of states, inputs, and outputs
1735-
nstates=_find_size(sys.nstates,x0)
1736-
ninputs=_find_size(sys.ninputs,u0)
1737-
noutputs=_find_size(sys.noutputs,y0)
1756+
nstates=_find_size(sys.nstates,x0,"states")
1757+
ninputs=_find_size(sys.ninputs,u0,"inputs")
1758+
noutputs=_find_size(sys.noutputs,y0,"outputs")
17381759

17391760
# Convert x0, u0, y0 to arrays, if needed
17401761
ifnp.isscalar(x0):
@@ -1977,23 +1998,23 @@ def linearize(sys, xeq, ueq=None, t=0, params=None, **kw):
19771998
returnsys.linearize(xeq,ueq,t=t,params=params,**kw)
19781999

19792000

1980-
def_find_size(sysval,vecval):
2001+
def_find_size(sysval,vecval,label):
19812002
"""Utility function to find the size of a system parameter
19822003
19832004
If both parameters are not None, they must be consistent.
19842005
"""
19852006
ifhasattr(vecval,'__len__'):
19862007
ifsysvalisnotNoneandsysval!=len(vecval):
1987-
raiseValueError("Inconsistent information to determine size "
1988-
"ofsystem component")
2008+
raiseValueError(
2009+
f"inconsistent information for numberof{label}")
19892010
returnlen(vecval)
19902011
# None or 0, which is a valid value for "a (sysval, ) vector of zeros".
19912012
ifnotvecval:
19922013
return0ifsysvalisNoneelsesysval
19932014
elifsysval==1:
19942015
# (1, scalar) is also a valid combination from legacy code
19952016
return1
1996-
raiseValueError("can't determinesize ofsystem component")
2017+
raiseValueError(f"can't determinenumber of{label}")
19972018

19982019

19992020
# Function to create an interconnected system
@@ -2241,7 +2262,7 @@ def interconnect(
22412262
`outputs`, for more natural naming of SISO systems.
22422263
22432264
"""
2244-
from .statespimportStateSpace,LinearICSystem,_convert_to_statespace
2265+
from .statespimportLinearICSystem,StateSpace,_convert_to_statespace
22452266
from .xferfcnimportTransferFunction
22462267

22472268
dt=kwargs.pop('dt',None)# bypass normal 'dt' processing
@@ -2551,7 +2572,7 @@ def interconnect(
25512572
returnnewsys
25522573

25532574

2554-
# Utility function to allow lists states, inputs
2575+
# Utility function to allow listsofstates, inputs
25552576
def_concatenate_list_elements(X,name='X'):
25562577
# If we were passed a list, concatenate the elements together
25572578
ifisinstance(X, (tuple,list)):
@@ -2574,13 +2595,14 @@ def _convert_static_iosystem(sys):
25742595
# Convert sys1 to an I/O system if needed
25752596
ifisinstance(sys, (int,float,np.number)):
25762597
returnNonlinearIOSystem(
2577-
None,lambdat,x,u,params:sys*u,inputs=1,outputs=1)
2598+
None,lambdat,x,u,params:sys*u,
2599+
outputs=1,inputs=1,dt=None)
25782600

25792601
elifisinstance(sys,np.ndarray):
25802602
sys=np.atleast_2d(sys)
25812603
returnNonlinearIOSystem(
25822604
None,lambdat,x,u,params:sys @u,
2583-
outputs=sys.shape[0],inputs=sys.shape[1])
2605+
outputs=sys.shape[0],inputs=sys.shape[1],dt=None)
25842606

25852607
defconnection_table(sys,show_names=False,column_width=32):
25862608
"""Print table of connections inside an interconnected system model.

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