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Commit37c95b6

Browse files
authored
Merge branch 'master' into vector-frd-feedback
2 parents323ae3d +4f681ab commit37c95b6

34 files changed

+258
-667
lines changed

‎.github/workflows/python-package-conda.yml

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -10,7 +10,7 @@ jobs:
1010
strategy:
1111
max-parallel:5
1212
matrix:
13-
python-version:[3.6, 3.9]
13+
python-version:[3.7, 3.9]
1414
slycot:["", "conda"]
1515
array-and-matrix:[0]
1616
include:

‎.travis.yml

Lines changed: 0 additions & 112 deletions
This file was deleted.

‎control/canonical.py

Lines changed: 8 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -8,7 +8,7 @@
88

99
importnumpyasnp
1010

11-
fromnumpyimportzeros,zeros_like,shape,poly,iscomplex,vstack,hstack,dot,\
11+
fromnumpyimportzeros,zeros_like,shape,poly,iscomplex,vstack,hstack, \
1212
transpose,empty,finfo,float64
1313
fromnumpy.linalgimportsolve,matrix_rank,eig
1414

@@ -149,7 +149,7 @@ def observable_form(xsys):
149149
raiseValueError("Transformation matrix singular to working precision.")
150150

151151
# Finally, compute the output matrix
152-
zsys.B=Tzx.dot(xsys.B)
152+
zsys.B=Tzx @xsys.B
153153

154154
returnzsys,Tzx
155155

@@ -189,13 +189,13 @@ def rsolve(M, y):
189189

190190
# Update the system matrices
191191
ifnotinverse:
192-
zsys.A=rsolve(T,dot(T,zsys.A))/timescale
193-
zsys.B=dot(T,zsys.B)/timescale
192+
zsys.A=rsolve(T,T @zsys.A)/timescale
193+
zsys.B=T @zsys.B/timescale
194194
zsys.C=rsolve(T,zsys.C)
195195
else:
196-
zsys.A=solve(T,zsys.A).dot(T)/timescale
196+
zsys.A=solve(T,zsys.A) @T/timescale
197197
zsys.B=solve(T,zsys.B)/timescale
198-
zsys.C=zsys.C.dot(T)
198+
zsys.C=zsys.C @T
199199

200200
returnzsys
201201

@@ -405,8 +405,8 @@ def bdschur(a, condmax=None, sort=None):
405405
permidx=np.hstack([blkidxs[i]foriinsortidx])
406406
rperm=np.eye(amodal.shape[0])[permidx]
407407

408-
tmodal=tmodal.dot(rperm)
409-
amodal=rperm.dot(amodal).dot(rperm.T)
408+
tmodal=tmodal @rperm
409+
amodal=rperm @amodal @rperm.T
410410
blksizes=blksizes[sortidx]
411411

412412
elifsortisNone:

‎control/delay.py

Lines changed: 0 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -42,7 +42,6 @@
4242
#
4343
# $Id$
4444

45-
from __future__importdivision
4645

4746
__all__= ['pade']
4847

‎control/flatsys/flatsys.py

Lines changed: 1 addition & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -462,8 +462,7 @@ def traj_const(null_coeffs):
462462
fortype,fun,lb,ubintraj_constraints:
463463
iftype==sp.optimize.LinearConstraint:
464464
# `fun` is A matrix associated with polytope...
465-
values.append(
466-
np.dot(fun,np.hstack([states,inputs])))
465+
values.append(fun @np.hstack([states,inputs]))
467466
eliftype==sp.optimize.NonlinearConstraint:
468467
values.append(fun(states,inputs))
469468
else:

‎control/flatsys/linflat.py

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -110,7 +110,7 @@ def __init__(self, linsys, inputs=None, outputs=None, states=None,
110110

111111
# Compute the flat output variable z = C x
112112
Cfz=np.zeros(np.shape(linsys.C));Cfz[0,0]=1
113-
self.Cf=np.dot(Cfz,Tr)
113+
self.Cf=Cfz @Tr
114114

115115
# Compute the flat flag from the state (and input)
116116
defforward(self,x,u):
@@ -122,11 +122,11 @@ def forward(self, x, u):
122122
x=np.reshape(x, (-1,1))
123123
u=np.reshape(u, (1,-1))
124124
zflag= [np.zeros(self.nstates+1)]
125-
zflag[0][0]=np.dot(self.Cf,x)
125+
zflag[0][0]=self.Cf @x
126126
H=self.Cf# initial state transformation
127127
foriinrange(1,self.nstates+1):
128-
zflag[0][i]=np.dot(H,np.dot(self.A,x)+np.dot(self.B,u))
129-
H=np.dot(H,self.A)# derivative for next iteration
128+
zflag[0][i]=H @(self.A @x+self.B @u)
129+
H=H @self.A# derivative for next iteration
130130
returnzflag
131131

132132
# Compute state and input from flat flag
@@ -137,6 +137,6 @@ def reverse(self, zflag):
137137
138138
"""
139139
z=zflag[0][0:-1]
140-
x=np.dot(self.Tinv,z)
141-
u=zflag[0][-1]-np.dot(self.F,z)
140+
x=self.Tinv @z
141+
u=zflag[0][-1]-self.F @z
142142
returnnp.reshape(x,self.nstates),np.reshape(u,self.ninputs)

‎control/frdata.py

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -35,7 +35,6 @@
3535
# Author: M.M. (Rene) van Paassen (using xferfcn.py as basis)
3636
# Date: 02 Oct 12
3737

38-
from __future__importdivision
3938

4039
"""
4140
Frequency response data representation and functions.
@@ -48,7 +47,7 @@
4847
fromwarningsimportwarn
4948
importnumpyasnp
5049
fromnumpyimportangle,array,empty,ones, \
51-
real,imag,absolute,eye,linalg,where,dot,sort
50+
real,imag,absolute,eye,linalg,where,sort
5251
fromscipy.interpolateimportsplprep,splev
5352
from .ltiimportLTI,_process_frequency_response
5453
from .importconfig
@@ -302,7 +301,7 @@ def __mul__(self, other):
302301
fresp=empty((outputs,inputs,len(self.omega)),
303302
dtype=self.fresp.dtype)
304303
foriinrange(len(self.omega)):
305-
fresp[:, :,i]=dot(self.fresp[:, :,i],other.fresp[:, :,i])
304+
fresp[:, :,i]=self.fresp[:, :,i] @other.fresp[:, :,i]
306305
returnFRD(fresp,self.omega,
307306
smooth=(self.ifuncisnotNone)and
308307
(other.ifuncisnotNone))
@@ -330,7 +329,7 @@ def __rmul__(self, other):
330329
fresp=empty((outputs,inputs,len(self.omega)),
331330
dtype=self.fresp.dtype)
332331
foriinrange(len(self.omega)):
333-
fresp[:, :,i]=dot(other.fresp[:, :,i],self.fresp[:, :,i])
332+
fresp[:, :,i]=other.fresp[:, :,i] @self.fresp[:, :,i]
334333
returnFRD(fresp,self.omega,
335334
smooth=(self.ifuncisnotNone)and
336335
(other.ifuncisnotNone))
@@ -538,6 +537,7 @@ def feedback(self, other=1, sign=-1):
538537
"FRD.feedback, inputs/outputs mismatch")
539538

540539
# TODO: handle omega re-mapping
540+
541541
# reorder array axes in order to leverage numpy broadcasting
542542
myfresp=np.moveaxis(self.fresp,2,0)
543543
otherfresp=np.moveaxis(other.fresp,2,0)

‎control/iosys.py

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -843,14 +843,14 @@ def _update_params(self, params={}, warning=True):
843843

844844
def_rhs(self,t,x,u):
845845
# Convert input to column vector and then change output to 1D array
846-
xdot=np.dot(self.A,np.reshape(x, (-1,1))) \
847-
+np.dot(self.B,np.reshape(u, (-1,1)))
846+
xdot=self.A @np.reshape(x, (-1,1)) \
847+
+self.B @np.reshape(u, (-1,1))
848848
returnnp.array(xdot).reshape((-1,))
849849

850850
def_out(self,t,x,u):
851851
# Convert input to column vector and then change output to 1D array
852-
y=np.dot(self.C,np.reshape(x, (-1,1))) \
853-
+np.dot(self.D,np.reshape(u, (-1,1)))
852+
y=self.C @np.reshape(x, (-1,1)) \
853+
+self.D @np.reshape(u, (-1,1))
854854
returnnp.array(y).reshape((-1,))
855855

856856

@@ -1197,7 +1197,7 @@ def _out(self, t, x, u):
11971197
ulist,ylist=self._compute_static_io(t,x,u)
11981198

11991199
# Make the full set of subsystem outputs to system output
1200-
returnnp.dot(self.output_map,ylist)
1200+
returnself.output_map @ylist
12011201

12021202
def_compute_static_io(self,t,x,u):
12031203
# Figure out the total number of inputs and outputs
@@ -1239,7 +1239,7 @@ def _compute_static_io(self, t, x, u):
12391239
output_index+=sys.noutputs
12401240

12411241
# Compute inputs based on connection map
1242-
new_ulist=np.dot(self.connect_map,ylist[:noutputs]) \
1242+
new_ulist=self.connect_map @ylist[:noutputs] \
12431243
+np.dot(self.input_map,u)
12441244

12451245
# Check to see if any of the inputs changed

‎control/margins.py

Lines changed: 0 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -9,9 +9,6 @@
99
margins.margin
1010
"""
1111

12-
# Python 3 compatibility (needs to go here)
13-
from __future__importprint_function
14-
1512
"""Copyright (c) 2011 by California Institute of Technology
1613
All rights reserved.
1714

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