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Commit4ea1d82

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Fix few docstring things, change name to eigensys_realization
1 parent614a080 commit4ea1d82

9 files changed

+35
-36
lines changed

‎control/modelsimp.py

Lines changed: 28 additions & 29 deletions
Original file line numberDiff line numberDiff line change
@@ -50,7 +50,7 @@
5050
from .statefbkimportgram
5151
from .timerespimportTimeResponseData
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53-
__all__= ['hsvd','balred','modred','era','markov','minreal']
53+
__all__= ['hsvd','balred','modred','eigensys_realization','markov','minreal','era']
5454

5555

5656
# Hankel Singular Value Decomposition
@@ -369,10 +369,11 @@ def minreal(sys, tol=None, verbose=True):
369369
returnsysr
370370

371371

372-
defera(arg,r,m=None,n=None,dt=True,transpose=False):
373-
r"""era(YY, r)
372+
defeigensys_realization(arg,r,m=None,n=None,dt=True,transpose=False):
373+
r"""eigensys_realization(YY, r)
374374
375-
Calculate an ERA model of order `r` based on the impulse-response data.
375+
Calculate an ERA model of order `r` based on the impulse-response data
376+
`YY`.
376377
377378
This function computes a discrete time system
378379
@@ -385,73 +386,68 @@ def era(arg, r, m=None, n=None, dt=True, transpose=False):
385386
386387
The function can be called with 2 arguments:
387388
388-
* ``sysd, S =era(data, r)``
389-
* ``sysd, S =era(YY, r)``
389+
* ``sysd, S =eigensys_realization(data, r)``
390+
* ``sysd, S =eigensys_realization(YY, r)``
390391
391392
where `response` is an `TimeResponseData` object, and `YY` is 1D or 3D
392393
array and r is an integer.
393394
394395
Parameters
395396
----------
396397
YY : array_like
397-
impulse-responsedatafrom which the StateSpace model is estimated,
398-
1Dor 3D array.
398+
Impulseresponse from which the StateSpace model is estimated, 1D
399+
or 3D array.
399400
data : TimeResponseData
400-
impulse-response data from which the StateSpace model is estimated.
401+
Impulse response from which the StateSpace model is estimated.
401402
r : integer
402403
Order of model.
403404
m : integer, optional
404-
Number of rows in Hankel matrix.
405-
Default is 2*r.
405+
Number of rows in Hankel matrix. Default is 2*r.
406406
n : integer, optional
407-
Number of columns in Hankel matrix.
408-
Default is 2*r.
407+
Number of columns in Hankel matrix. Default is 2*r.
409408
dt : True or float, optional
410409
True indicates discrete time with unspecified sampling time,
411-
positive number is discrete time with specified sampling time.
412-
It can be used to scale the StateSpace model in order to match
413-
the impulse response of this library.
414-
Default values is True.
410+
positive number is discrete time with specified sampling time. It
411+
can be used to scale the StateSpace model in order to match the
412+
impulse response of this library. Default is True.
415413
transpose : bool, optional
416414
Assume that input data is transposed relative to the standard
417-
:ref:`time-series-convention`. For TimeResponseData this parameter
418-
is ignored.
419-
Default value is False.
415+
:ref:`time-series-convention`. For TimeResponseData this parameter
416+
is ignored. Default is False.
420417
421418
Returns
422419
-------
423420
sys : StateSpace
424421
A reduced order model sys=StateSpace(Ar,Br,Cr,Dr,dt).
425422
S : array
426-
Singular values of Hankel matrix.
427-
Can be used to choose a good rvalue.
423+
Singular values of Hankel matrix. Can be used to choose a good r
424+
value.
428425
429426
References
430427
----------
431-
.. [1] Samet Oymak and Necmiye Ozay
432-
Non-asymptotic Identification of LTI Systems
433-
from a Single Trajectory.
428+
.. [1] Samet Oymak and Necmiye Ozay, Non-asymptotic Identification of
429+
LTI Systems from a Single Trajectory.
434430
https://arxiv.org/abs/1806.05722
435431
436432
Examples
437433
--------
438434
>>> T = np.linspace(0, 10, 100)
439435
>>> _, YY = ct.impulse_response(ct.tf([1], [1, 0.5], True), T)
440-
>>> sysd, _ = ct.era(YY, r=1)
436+
>>> sysd, _ = ct.eigensys_realization(YY, r=1)
441437
442438
>>> T = np.linspace(0, 10, 100)
443439
>>> response = ct.impulse_response(ct.tf([1], [1, 0.5], True), T)
444-
>>> sysd, _ = ct.era(response, r=1)
440+
>>> sysd, _ = ct.eigensys_realization(response, r=1)
445441
"""
446442
defblock_hankel_matrix(Y,m,n):
447-
443+
"""Create a block hankel matrix from Impulse response"""
448444
q,p,_=Y.shape
449445
YY=Y.transpose(0,2,1)# transpose for reshape
450446

451447
H=np.zeros((q*m,p*n))
452448

453449
forrinrange(m):
454-
# shift and add row tohankel matrix
450+
# shift and add row toHankel matrix
455451
new_row=YY[:,r:r+n,:]
456452
H[q*r:q*(r+1),:]=new_row.reshape((q,p*n))
457453

@@ -651,3 +647,6 @@ def markov(Y, U, m=None, transpose=False):
651647

652648
# Return the first m Markov parameters
653649
returnHiftransposeelsenp.transpose(H)
650+
651+
# Function aliases
652+
era=eigensys_realization

‎control/tests/modelsimp_test.py

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -10,7 +10,7 @@
1010
fromcontrolimportStateSpace,impulse_response,step_response,forced_response,tf,rss,c2d
1111
fromcontrol.exceptionimportControlMIMONotImplemented
1212
fromcontrol.tests.conftestimportslycotonly
13-
fromcontrol.modelsimpimportbalred,hsvd,markov,modred,era
13+
fromcontrol.modelsimpimportbalred,hsvd,markov,modred,eigensys_realization
1414

1515

1616
classTestModelsimp:
@@ -129,15 +129,15 @@ def testERASignature(self):
129129
ir_true=impulse_response(sysd_true,T=T)
130130

131131
# test TimeResponseData
132-
sysd_est,_=era(ir_true,r=2)
132+
sysd_est,_=eigensys_realization(ir_true,r=2)
133133
ir_est=impulse_response(sysd_est,T=T)
134134
_,H_est=ir_est
135135

136136
np.testing.assert_allclose(H_true,H_est,rtol=1e-6,atol=1e-8)
137137

138138
# test ndarray
139139
_,YY_true=ir_true
140-
sysd_est,_=era(YY_true,r=2)
140+
sysd_est,_=eigensys_realization(YY_true,r=2)
141141
ir_est=impulse_response(sysd_est,T=T)
142142
_,H_est=ir_est
143143

@@ -169,7 +169,7 @@ def testERASignature(self):
169169
ir_true=impulse_response(sysd_true,T=T)
170170

171171
# test TimeResponseData
172-
sysd_est,_=era(ir_true,r=4,dt=dt)
172+
sysd_est,_=eigensys_realization(ir_true,r=4,dt=dt)
173173

174174
step_true=step_response(sysd_true)
175175
step_est=step_response(sysd_est)
@@ -180,7 +180,7 @@ def testERASignature(self):
180180

181181
# test ndarray
182182
_,YY_true=ir_true
183-
sysd_est,_=era(YY_true,r=4,dt=dt)
183+
sysd_est,_=eigensys_realization(YY_true,r=4,dt=dt)
184184

185185
step_true=step_response(sysd_true,T=T)
186186
step_est=step_response(sysd_est,T=T)

‎doc/control.rst

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -137,7 +137,7 @@ Model simplification tools
137137
balred
138138
hsvd
139139
modred
140-
era
140+
eigensys_realization
141141
markov
142142

143143
Nonlinear system support

‎doc/timeplot-mimo_ioresp-mt_tr.png

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‎doc/timeplot-mimo_ioresp-ov_lm.png

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‎doc/timeplot-mimo_step-default.png

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‎doc/timeplot-mimo_step-linestyle.png

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‎doc/timeplot-mimo_step-pi_cs.png

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‎examples/era_msd.py

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -47,7 +47,7 @@
4747
response.plot()
4848
plt.show()
4949

50-
sysd_est,_=ct.era(response,r=4,dt=dt)
50+
sysd_est,_=ct.eigensys_realization(response,r=4,dt=dt)
5151

5252
step_true=ct.step_response(sysd)
5353
step_true.sysname="H_true"

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