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Commit43d73f0

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support time series of response data in step_info
1 parent20ed368 commit43d73f0

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2 files changed

+111
-44
lines changed

2 files changed

+111
-44
lines changed

‎control/tests/timeresp_test.py

Lines changed: 52 additions & 14 deletions
Original file line numberDiff line numberDiff line change
@@ -427,8 +427,7 @@ def test_step_nostates(self, dt):
427427
np.testing.assert_array_equal(y,np.ones(len(t)))
428428

429429
defassert_step_info_match(self,sys,info,info_ref):
430-
"""Assert reasonable step_info accuracy"""
431-
430+
"""Assert reasonable step_info accuracy."""
432431
ifsys.isdtime(strict=True):
433432
dt=sys.dt
434433
else:
@@ -460,26 +459,66 @@ def assert_step_info_match(self, sys, info, info_ref):
460459
"siso_tf_kneg",
461460
"siso_tf_type1"],
462461
indirect=["tsystem"])
463-
deftest_step_info(self,tsystem):
464-
"""Test step info for SISO systems"""
465-
step_info_kwargs=tsystem.kwargs.get('step_info',{})
466-
info=step_info(tsystem.sys,**step_info_kwargs)
462+
@pytest.mark.parametrize(
463+
"systype, time_2d",
464+
[("lti",False),
465+
("time response data",False),
466+
("time response data",True),
467+
])
468+
deftest_step_info(self,tsystem,systype,time_2d):
469+
"""Test step info for SISO systems."""
470+
step_info_kwargs=tsystem.kwargs.get('step_info', {})
471+
ifsystype=="time response data":
472+
# simulate long enough for steady state value
473+
tfinal=3*tsystem.step_info['SettlingTime']
474+
ifnp.isnan(tfinal):
475+
pytest.skip("test system does not settle")
476+
t,y=step_response(tsystem.sys,T=tfinal,T_num=5000)
477+
sysdata=y
478+
step_info_kwargs['T']=t[np.newaxis, :]iftime_2delset
479+
else:
480+
sysdata=tsystem.sys
481+
482+
info=step_info(sysdata,**step_info_kwargs)
483+
467484
self.assert_step_info_match(tsystem.sys,info,tsystem.step_info)
468485

469486
@pytest.mark.parametrize(
470487
"tsystem",
471488
['mimo_ss_step_matlab',
472489
pytest.param('mimo_tf_step',marks=slycotonly)],
473490
indirect=["tsystem"])
474-
deftest_step_info_mimo(self,tsystem):
475-
"""Test step info for MIMO systems"""
476-
step_info_kwargs=tsystem.kwargs.get('step_info',{})
477-
info_dict=step_info(tsystem.sys,**step_info_kwargs)
491+
@pytest.mark.parametrize(
492+
"systype", ["lti","time response data"])
493+
deftest_step_info_mimo(self,tsystem,systype):
494+
"""Test step info for MIMO systems."""
495+
step_info_kwargs=tsystem.kwargs.get('step_info', {})
496+
ifsystype=="time response data":
497+
tfinal=3*max([S['SettlingTime']
498+
forSrowintsystem.step_infoforSinSrow])
499+
t,y=step_response(tsystem.sys,T=tfinal,T_num=5000)
500+
sysdata=y
501+
step_info_kwargs['T']=t
502+
else:
503+
sysdata=tsystem.sys
504+
505+
info_dict=step_info(sysdata,**step_info_kwargs)
506+
478507
fori,rowinenumerate(info_dict):
479508
forj,infoinenumerate(row):
480-
forkininfo:
481-
self.assert_step_info_match(tsystem.sys,
482-
info,tsystem.step_info[i][j])
509+
self.assert_step_info_match(tsystem.sys,
510+
info,tsystem.step_info[i][j])
511+
512+
deftest_step_info_invalid(self):
513+
"""Call step_info with invalid parameters."""
514+
withpytest.raises(ValueError,match="time series data convention"):
515+
step_info(["not numeric data"])
516+
withpytest.raises(ValueError,match="time series data convention"):
517+
step_info(np.ones((10,15)))# invalid shape
518+
withpytest.raises(ValueError,match="matching time vector"):
519+
step_info(np.ones(15),T=np.linspace(0,1,20))# time too long
520+
withpytest.raises(ValueError,match="matching time vector"):
521+
step_info(np.ones((2,2,15)))# no time vector
483522

484523
deftest_step_pole_cancellation(self,pole_cancellation,
485524
no_pole_cancellation):
@@ -491,7 +530,6 @@ def test_step_pole_cancellation(self, pole_cancellation,
491530
step_info_no_cancellation,
492531
step_info_cancellation)
493532

494-
495533
@pytest.mark.parametrize(
496534
"tsystem, kwargs",
497535
[("siso_ss2", {}),

‎control/timeresp.py

Lines changed: 59 additions & 30 deletions
Original file line numberDiff line numberDiff line change
@@ -1,9 +1,7 @@
1-
# timeresp.py - time-domain simulation routines
2-
#
3-
# This file contains a collection of functions that calculate time
4-
# responses for linear systems.
1+
"""
2+
timeresp.py - time-domain simulation routines.
53
6-
"""The :mod:`~control.timeresp` module contains a collection of
4+
The :mod:`~control.timeresp` module contains a collection of
75
functions that are used to compute time-domain simulations of LTI
86
systems.
97
@@ -21,9 +19,7 @@
2119
See :ref:`time-series-convention` for more information on how time
2220
series data are represented.
2321
24-
"""
25-
26-
"""Copyright (c) 2011 by California Institute of Technology
22+
Copyright (c) 2011 by California Institute of Technology
2723
All rights reserved.
2824
2925
Copyright (c) 2011 by Eike Welk
@@ -75,12 +71,12 @@
7571

7672
importnumpyasnp
7773
importscipyassp
78-
fromnumpyimportatleast_1d,einsum,maximum,minimum
74+
fromnumpyimporteinsum,maximum,minimum
7975
fromscipy.linalgimporteig,eigvals,matrix_balance,norm
8076

8177
from .importconfig
82-
from .ltiimport(LTI,isctime,isdtime)
83-
from .statespimport_convert_to_statespace,_mimo2simo,_mimo2siso,ssdata
78+
from .ltiimportisctime,isdtime
79+
from .statespimportStateSpace,_convert_to_statespace,_mimo2simo,_mimo2siso
8480
from .xferfcnimportTransferFunction
8581

8682
__all__= ['forced_response','step_response','step_info','initial_response',
@@ -209,7 +205,7 @@ def forced_response(sys, T=None, U=0., X0=0., transpose=False,
209205
210206
Parameters
211207
----------
212-
sys :LTI (StateSpace or TransferFunction)
208+
sys : StateSpace or TransferFunction
213209
LTI system to simulate
214210
215211
T : array_like, optional for discrete LTI `sys`
@@ -284,9 +280,9 @@ def forced_response(sys, T=None, U=0., X0=0., transpose=False,
284280
See :ref:`time-series-convention`.
285281
286282
"""
287-
ifnotisinstance(sys,LTI):
288-
raiseTypeError('Parameter ``sys``: must be a ``LTI``object.'
289-
'(For example ``StateSpace`` or ``TransferFunction``)')
283+
ifnotisinstance(sys,(StateSpace,TransferFunction)):
284+
raiseTypeError('Parameter ``sys``: must be a ``StateSpace``or'
285+
' ``TransferFunction``)')
290286

291287
# If return_x was not specified, figure out the default
292288
ifreturn_xisNone:
@@ -738,20 +734,24 @@ def step_response(sys, T=None, X0=0., input=None, output=None, T_num=None,
738734
squeeze=squeeze,input=input,output=output)
739735

740736

741-
defstep_info(sys,T=None,T_num=None,SettlingTimeThreshold=0.02,
737+
defstep_info(sysdata,T=None,T_num=None,SettlingTimeThreshold=0.02,
742738
RiseTimeLimits=(0.1,0.9)):
743739
"""
744740
Step response characteristics (Rise time, Settling Time, Peak and others).
745741
746742
Parameters
747743
----------
748-
sys : LTI system
744+
sysdata : StateSpace or TransferFunction or array_like
745+
The system data. Either LTI system to similate (StateSpace,
746+
TransferFunction), or a time series of step response data.
749747
T : array_like or float, optional
750748
Time vector, or simulation time duration if a number (time vector is
751749
autocomputed if not given, see :func:`step_response` for more detail)
750+
Required, if sysdata is a time series of response data.
752751
T_num : int, optional
753752
Number of time steps to use in simulation if T is not provided as an
754-
array (autocomputed if not given); ignored if sys is discrete-time.
753+
array; autocomputed if not given; ignored if sysdata is a
754+
discrete-time system or a time series or response data.
755755
SettlingTimeThreshold : float value, optional
756756
Defines the error to compute settling time (default = 0.02)
757757
RiseTimeLimits : tuple (lower_threshold, upper_theshold)
@@ -760,7 +760,8 @@ def step_info(sys, T=None, T_num=None, SettlingTimeThreshold=0.02,
760760
Returns
761761
-------
762762
S : dict or list of list of dict
763-
If `sys` is a SISO system, S is a dictionary containing:
763+
If `sysdata` corresponds to a SISO system, S is a dictionary
764+
containing:
764765
765766
RiseTime:
766767
Time from 10% to 90% of the steady-state value.
@@ -781,9 +782,9 @@ def step_info(sys, T=None, T_num=None, SettlingTimeThreshold=0.02,
781782
SteadyStateValue:
782783
Steady-state value
783784
784-
If `sys` isa MIMO system, `S` is a 2D list of dicts. To get the
785-
step response characteristics from the j-th input to the i-th output,
786-
access ``S[i][j]``
785+
If `sysdata` corresponds toa MIMO system, `S` is a 2D list of dicts.
786+
To get thestep response characteristics from the j-th input to the
787+
i-th output,access ``S[i][j]``
787788
788789
789790
See Also
@@ -833,18 +834,46 @@ def step_info(sys, T=None, T_num=None, SettlingTimeThreshold=0.02,
833834
PeakTime: 4.242
834835
SteadyStateValue: -1.0
835836
"""
836-
ifTisNoneornp.asarray(T).size==1:
837-
T=_default_time_vector(sys,N=T_num,tfinal=T,is_step=True)
838-
T,Yout=step_response(sys,T,squeeze=False)
837+
ifisinstance(sysdata, (StateSpace,TransferFunction)):
838+
ifTisNoneornp.asarray(T).size==1:
839+
T=_default_time_vector(sysdata,N=T_num,tfinal=T,is_step=True)
840+
T,Yout=step_response(sysdata,T,squeeze=False)
841+
InfValues=np.atleast_2d(sysdata.dcgain())
842+
retsiso=sysdata.issiso()
843+
noutputs=sysdata.noutputs
844+
ninputs=sysdata.ninputs
845+
else:
846+
# Time series of response data
847+
errmsg= ("`sys` must be a LTI system, or time response data"
848+
" with a shape following the python-control"
849+
" time series data convention.")
850+
try:
851+
Yout=np.array(sysdata,dtype=float)
852+
exceptValueError:
853+
raiseValueError(errmsg)
854+
ifYout.ndim==1or (Yout.ndim==2andYout.shape[0]==1):
855+
Yout=Yout[np.newaxis,np.newaxis, :]
856+
retsiso=True
857+
elifYout.ndim==3:
858+
retsiso=False
859+
else:
860+
raiseValueError(errmsg)
861+
ifTisNoneorYout.shape[2]!=len(np.squeeze(T)):
862+
raiseValueError("For time response data, a matching time vector"
863+
" must be given")
864+
T=np.squeeze(T)
865+
noutputs=Yout.shape[0]
866+
ninputs=Yout.shape[1]
867+
InfValues=Yout[:, :,-1]
839868

840869
ret= []
841-
foriinrange(sys.noutputs):
870+
foriinrange(noutputs):
842871
retrow= []
843-
forjinrange(sys.ninputs):
872+
forjinrange(ninputs):
844873
yout=Yout[i,j, :]
845874

846875
# Steady state value
847-
InfValue=sys.dcgain()ifsys.issiso()elsesys.dcgain()[i,j]
876+
InfValue=InfValues[i,j]
848877
sgnInf=np.sign(InfValue.real)
849878

850879
rise_time:float=np.NaN
@@ -869,7 +898,7 @@ def step_info(sys, T=None, T_num=None, SettlingTimeThreshold=0.02,
869898

870899
# SettlingTime
871900
settled=np.where(
872-
np.abs(yout/InfValue-1)>=SettlingTimeThreshold)[0][-1]+1
901+
np.abs(yout/InfValue-1)>=SettlingTimeThreshold)[0][-1]+1
873902
# MIMO systems can have unsettled channels without infinite
874903
# InfValue
875904
ifsettled<len(T):
@@ -917,7 +946,7 @@ def step_info(sys, T=None, T_num=None, SettlingTimeThreshold=0.02,
917946

918947
ret.append(retrow)
919948

920-
returnret[0][0]ifsys.issiso()elseret
949+
returnret[0][0]ifretsisoelseret
921950

922951
definitial_response(sys,T=None,X0=0.,input=0,output=None,T_num=None,
923952
transpose=False,return_x=False,squeeze=None):

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