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Commit7795a13

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Merge pull request#185 from murrayrm/Marxlp-more-parameters
more parameters for series and parallel (updated)
2 parents1801c9a +ccb84a2 commit7795a13

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2 files changed

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-13
lines changed

2 files changed

+77
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lines changed

‎control/bdalg.py

Lines changed: 17 additions & 13 deletions
Original file line numberDiff line numberDiff line change
@@ -61,13 +61,13 @@
6161

6262
__all__= ['series','parallel','negate','feedback','append','connect']
6363

64-
defseries(sys1,sys2):
65-
"""Return the series connectionsys2 *sys1 for --> sys1 -->sys2-->.
64+
defseries(sys1,*sysn):
65+
"""Return the series connection(... *sys3 *)sys2* sys1
6666
6767
Parameters
6868
----------
6969
sys1: scalar, StateSpace, TransferFunction, or FRD
70-
sys2: scalar, StateSpace, TransferFunction, orFRD
70+
*sysn: other scalers, StateSpaces, TransferFunctions, orFRDs
7171
7272
Returns
7373
-------
@@ -97,20 +97,22 @@ def series(sys1, sys2):
9797
9898
Examples
9999
--------
100-
>>> sys3 = series(sys1, sys2) # Same as sys3 = sys2 * sys1.
100+
>>> sys3 = series(sys1, sys2) # Same as sys3 = sys2 * sys1
101101
102-
"""
102+
>>> sys5 = series(sys1, sys2, sys3, sys4) # More systems
103103
104-
returnsys2*sys1
104+
"""
105+
fromfunctoolsimportreduce
106+
returnreduce(lambdax,y:x*y,sysn,sys1)
105107

106-
defparallel(sys1,sys2):
108+
defparallel(sys1,*sysn):
107109
"""
108-
Return the parallel connection sys1 + sys2.
110+
Return the parallel connection sys1 + sys2 (+ sys3 + ...)
109111
110112
Parameters
111113
----------
112114
sys1: scalar, StateSpace, TransferFunction, or FRD
113-
sys2: scalar, StateSpace, TransferFunction, orFRD
115+
*sysn: other scalers, StateSpaces, TransferFunctions, orFRDs
114116
115117
Returns
116118
-------
@@ -140,11 +142,13 @@ def parallel(sys1, sys2):
140142
141143
Examples
142144
--------
143-
>>> sys3 = parallel(sys1, sys2) # Same as sys3 = sys1 + sys2.
145+
>>> sys3 = parallel(sys1, sys2) # Same as sys3 = sys1 + sys2
144146
145-
"""
147+
>>> sys5 = parallel(sys1, sys2, sys3, sys4) # More systems
146148
147-
returnsys1+sys2
149+
"""
150+
fromfunctoolsimportreduce
151+
returnreduce(lambdax,y:x+y,sysn,sys1)
148152

149153
defnegate(sys):
150154
"""
@@ -247,7 +251,7 @@ def feedback(sys1, sys2=1, sign=-1):
247251
returnsys1.feedback(sys2,sign)
248252

249253
defappend(*sys):
250-
'''append(sys1, sys2, ... sysn)
254+
'''append(sys1, sys2, ..., sysn)
251255
252256
Group models by appending their inputs and outputs
253257

‎control/tests/bdalg_test.py

Lines changed: 60 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -5,9 +5,12 @@
55

66
importunittest
77
importnumpyasnp
8+
fromnumpyimportsort
9+
importcontrolasctrl
810
fromcontrol.xferfcnimportTransferFunction
911
fromcontrol.statespimportStateSpace
1012
fromcontrol.bdalgimportfeedback
13+
fromcontrol.ltiimportzero,pole
1114

1215
classTestFeedback(unittest.TestCase):
1316
"""These are tests for the feedback function in bdalg.py. Currently, some
@@ -177,6 +180,63 @@ def testTFTF(self):
177180
np.testing.assert_array_almost_equal(ans2.num, [[[1.,4.,7.,6.]]])
178181
np.testing.assert_array_almost_equal(ans2.den, [[[1.,4.,9.,8.,5.]]])
179182

183+
deftestLists(self):
184+
"""Make sure that lists of various lengths work for operations"""
185+
sys1=ctrl.tf([1,1], [1,2])
186+
sys2=ctrl.tf([1,3], [1,4])
187+
sys3=ctrl.tf([1,5], [1,6])
188+
sys4=ctrl.tf([1,7], [1,8])
189+
sys5=ctrl.tf([1,9], [1,0])
190+
191+
# Series
192+
sys1_2=ctrl.series(sys1,sys2)
193+
np.testing.assert_array_almost_equal(sort(pole(sys1_2)), [-4.,-2.])
194+
np.testing.assert_array_almost_equal(sort(zero(sys1_2)), [-3.,-1.])
195+
196+
sys1_3=ctrl.series(sys1,sys2,sys3);
197+
np.testing.assert_array_almost_equal(sort(pole(sys1_3)),
198+
[-6.,-4.,-2.])
199+
np.testing.assert_array_almost_equal(sort(zero(sys1_3)),
200+
[-5.,-3.,-1.])
201+
202+
sys1_4=ctrl.series(sys1,sys2,sys3,sys4);
203+
np.testing.assert_array_almost_equal(sort(pole(sys1_4)),
204+
[-8.,-6.,-4.,-2.])
205+
np.testing.assert_array_almost_equal(sort(zero(sys1_4)),
206+
[-7.,-5.,-3.,-1.])
207+
208+
sys1_5=ctrl.series(sys1,sys2,sys3,sys4,sys5);
209+
np.testing.assert_array_almost_equal(sort(pole(sys1_5)),
210+
[-8.,-6.,-4.,-2.,-0.])
211+
np.testing.assert_array_almost_equal(sort(zero(sys1_5)),
212+
[-9.,-7.,-5.,-3.,-1.])
213+
214+
# Parallel
215+
sys1_2=ctrl.parallel(sys1,sys2)
216+
np.testing.assert_array_almost_equal(sort(pole(sys1_2)), [-4.,-2.])
217+
np.testing.assert_array_almost_equal(sort(zero(sys1_2)),
218+
sort(zero(sys1+sys2)))
219+
220+
sys1_3=ctrl.parallel(sys1,sys2,sys3);
221+
np.testing.assert_array_almost_equal(sort(pole(sys1_3)),
222+
[-6.,-4.,-2.])
223+
np.testing.assert_array_almost_equal(sort(zero(sys1_3)),
224+
sort(zero(sys1+sys2+sys3)))
225+
226+
sys1_4=ctrl.parallel(sys1,sys2,sys3,sys4);
227+
np.testing.assert_array_almost_equal(sort(pole(sys1_4)),
228+
[-8.,-6.,-4.,-2.])
229+
np.testing.assert_array_almost_equal(sort(zero(sys1_4)),
230+
sort(zero(sys1+sys2+
231+
sys3+sys4)))
232+
233+
234+
sys1_5=ctrl.parallel(sys1,sys2,sys3,sys4,sys5);
235+
np.testing.assert_array_almost_equal(sort(pole(sys1_5)),
236+
[-8.,-6.,-4.,-2.,-0.])
237+
np.testing.assert_array_almost_equal(sort(zero(sys1_5)),
238+
sort(zero(sys1+sys2+
239+
sys3+sys4+sys5)))
180240
defsuite():
181241
returnunittest.TestLoader().loadTestsFromTestCase(TestFeedback)
182242

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