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Commit9aed7cc

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changes so that a default dt=0 passes unit tests. fixed code everywhere that combines systems with different timebases
1 parent0113f99 commit9aed7cc

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9 files changed

+173
-249
lines changed

9 files changed

+173
-249
lines changed

‎control/config.py

Lines changed: 6 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -59,6 +59,9 @@ def reset_defaults():
5959
from .statespimport_statesp_defaults
6060
defaults.update(_statesp_defaults)
6161

62+
from .iosysimport_iosys_defaults
63+
defaults.update(_iosys_defaults)
64+
6265

6366
def_get_param(module,param,argval=None,defval=None,pop=False):
6467
"""Return the default value for a configuration option.
@@ -170,5 +173,8 @@ def use_legacy_defaults(version):
170173
"""
171174
ifversion=='0.8.3':
172175
use_numpy_matrix(True)# alternatively: set_defaults('statesp', use_numpy_matrix=True)
176+
set_defaults('statesp',default_dt=None)
177+
set_defaults('xferfcn',default_dt=None)
178+
set_defaults('iosys',default_dt=None)
173179
else:
174180
raiseValueError('''version number not recognized. Possible values are: ['0.8.3']''')

‎control/iosys.py

Lines changed: 16 additions & 19 deletions
Original file line numberDiff line numberDiff line change
@@ -38,12 +38,16 @@
3838

3939
from .statespimportStateSpace,tf2ss
4040
from .timerespimport_check_convert_array
41-
from .ltiimportisctime,isdtime,_find_timebase
41+
from .ltiimportisctime,isdtime,common_timebase
42+
from .importconfig
4243

4344
__all__= ['InputOutputSystem','LinearIOSystem','NonlinearIOSystem',
4445
'InterconnectedSystem','input_output_response','find_eqpt',
4546
'linearize','ss2io','tf2io']
4647

48+
# Define module default parameter values
49+
_iosys_defaults= {
50+
'iosys.default_dt':0}
4751

4852
classInputOutputSystem(object):
4953
"""A class for representing input/output systems.
@@ -109,7 +113,7 @@ class for a set of subclasses that are used to implement specific
109113
110114
"""
111115
def__init__(self,inputs=None,outputs=None,states=None,params={},
112-
dt=None,name=None):
116+
name=None,**kwargs):
113117
"""Create an input/output system.
114118
115119
The InputOutputSystem contructor is used to create an input/output
@@ -153,7 +157,7 @@ def __init__(self, inputs=None, outputs=None, states=None, params={},
153157
"""
154158
# Store the input arguments
155159
self.params=params.copy()# default parameters
156-
self.dt=dt# timebase
160+
self.dt=kwargs.get('dt',config.defaults['iosys.default_dt'])# timebase
157161
self.name=name# system name
158162

159163
# Parse and store the number of inputs, outputs, and states
@@ -200,10 +204,8 @@ def __mul__(sys2, sys1):
200204
"inputs and outputs")
201205

202206
# Make sure timebase are compatible
203-
dt=_find_timebase(sys1,sys2)
204-
ifdtisFalse:
205-
raiseValueError("System timebases are not compabile")
206-
207+
dt=common_timebase(sys1.dt,sys2.dt)
208+
207209
# Return the series interconnection between the systems
208210
newsys=InterconnectedSystem((sys1,sys2))
209211

@@ -478,10 +480,8 @@ def feedback(self, other=1, sign=-1, params={}):
478480
"inputs and outputs")
479481

480482
# Make sure timebases are compatible
481-
dt=_find_timebase(self,other)
482-
ifdtisFalse:
483-
raiseValueError("System timebases are not compabile")
484-
483+
dt=common_timebase(self.dt,other.dt)
484+
485485
# Return the series interconnection between the systems
486486
newsys=InterconnectedSystem((self,other),params=params,dt=dt)
487487

@@ -670,7 +670,8 @@ class NonlinearIOSystem(InputOutputSystem):
670670
671671
"""
672672
def__init__(self,updfcn,outfcn=None,inputs=None,outputs=None,
673-
states=None,params={},dt=None,name=None):
673+
states=None,params={},
674+
name=None,**kwargs):
674675
"""Create a nonlinear I/O system given update and output functions.
675676
676677
Creates an `InputOutputSystem` for a nonlinear system by specifying a
@@ -741,6 +742,7 @@ def __init__(self, updfcn, outfcn=None, inputs=None, outputs=None,
741742
self.outfcn=outfcn
742743

743744
# Initialize the rest of the structure
745+
dt=kwargs.get('dt',config.defaults['iosys.default_dt'])
744746
super(NonlinearIOSystem,self).__init__(
745747
inputs=inputs,outputs=outputs,states=states,
746748
params=params,dt=dt,name=name
@@ -881,19 +883,14 @@ def __init__(self, syslist, connections=[], inplist=[], outlist=[],
881883
# Check to make sure all systems are consistent
882884
self.syslist=syslist
883885
self.syslist_index= {}
884-
dt=None
885886
nstates=0;self.state_offset= []
886887
ninputs=0;self.input_offset= []
887888
noutputs=0;self.output_offset= []
888889
system_count=0
890+
889891
forsysinsyslist:
890892
# Make sure time bases are consistent
891-
# TODO: Use lti._find_timebase() instead?
892-
ifdtisNoneandsys.dtisnotNone:
893-
# Timebase was not specified; set to match this system
894-
dt=sys.dt
895-
elifdt!=sys.dt:
896-
raiseTypeError("System timebases are not compatible")
893+
dt=common_timebase(dt,sys.dt)
897894

898895
# Make sure number of inputs, outputs, states is given
899896
ifsys.ninputsisNoneorsys.noutputsisNoneor \

‎control/lti.py

Lines changed: 27 additions & 44 deletions
Original file line numberDiff line numberDiff line change
@@ -9,13 +9,13 @@
99
isdtime()
1010
isctime()
1111
timebase()
12-
timebaseEqual()
12+
common_timebase()
1313
"""
1414

1515
importnumpyasnp
1616
fromnumpyimportabsolute,real
1717

18-
__all__= ['issiso','timebase','timebaseEqual','isdtime','isctime',
18+
__all__= ['issiso','timebase','common_timebase','isdtime','isctime',
1919
'pole','zero','damp','evalfr','freqresp','dcgain']
2020

2121
classLTI:
@@ -157,48 +157,31 @@ def timebase(sys, strict=True):
157157

158158
returnsys.dt
159159

160-
# Check to see if two timebases are equal
161-
deftimebaseEqual(sys1,sys2):
162-
"""Check to see if two systems have the same timebase
163-
164-
timebaseEqual(sys1, sys2)
165-
166-
returns True if the timebases for the two systems are compatible. By
167-
default, systems with timebase 'None' are compatible with either
168-
discrete or continuous timebase systems. If two systems have a discrete
169-
timebase (dt > 0) then their timebases must be equal.
170-
"""
171-
172-
if (type(sys1.dt)==boolortype(sys2.dt)==bool):
173-
# Make sure both are unspecified discrete timebases
174-
returntype(sys1.dt)==type(sys2.dt)andsys1.dt==sys2.dt
175-
elif (sys1.dtisNoneorsys2.dtisNone):
176-
# One or the other is unspecified => the other can be anything
177-
returnTrue
178-
else:
179-
returnsys1.dt==sys2.dt
180-
181-
# Find a common timebase between two or more systems
182-
def_find_timebase(sys1,*sysn):
183-
"""Find the common timebase between systems, otherwise return False"""
184-
185-
# Create a list of systems to check
186-
syslist= [sys1]
187-
syslist.append(*sysn)
188-
189-
# Look for a common timebase
190-
dt=None
191-
192-
forsysinsyslist:
193-
# Make sure time bases are consistent
194-
if (dtisNoneandsys.dtisnotNone)or \
195-
(dtisTrueandisdiscrete(sys)):
196-
# Timebase was not specified; set to match this system
197-
dt=sys.dt
198-
elifdt!=sys.dt:
199-
returnFalse
200-
returndt
201-
160+
defcommon_timebase(dt1,dt2):
161+
"""Find the common timebase when interconnecting systems."""
162+
# cases:
163+
# if either dt is None, they are compatible with anything
164+
# if either dt is True (discrete with unspecified time base),
165+
# use the timebase of the other, if it is also discrete
166+
# otherwise they must be equal (holds for both cont and discrete systems)
167+
ifdt1isNone:
168+
returndt2
169+
elifdt2isNone:
170+
returndt1
171+
elifdt1isTrue:
172+
ifdt2>0:
173+
returndt2
174+
else:
175+
raiseValueError("Systems have incompatible timebases")
176+
elifdt2isTrue:
177+
ifdt1>0:
178+
returndt1
179+
else:
180+
raiseValueError("Systems have incompatible timebases")
181+
elifnp.isclose(dt1,dt2):
182+
returndt1
183+
else:
184+
raiseValueError("Systems have incompatible timebases")
202185

203186
# Check to see if a system is a discrete time system
204187
defisdtime(sys,strict=False):

‎control/statesp.py

Lines changed: 25 additions & 46 deletions
Original file line numberDiff line numberDiff line change
@@ -61,7 +61,7 @@
6161
importscipyassp
6262
fromscipy.signalimportlti,cont2discrete
6363
fromwarningsimportwarn
64-
from .ltiimportLTI,timebase,timebaseEqual,isdtime
64+
from .ltiimportLTI,common_timebase,isdtime
6565
from .importconfig
6666
fromcopyimportdeepcopy
6767

@@ -174,7 +174,10 @@ def __init__(self, *args, **kw):
174174
iflen(args)==4:
175175
# The user provided A, B, C, and D matrices.
176176
(A,B,C,D)=args
177-
dt=config.defaults['statesp.default_dt']
177+
if_isstaticgain(A,B,C,D):
178+
dt=None
179+
else:
180+
dt=config.defaults['statesp.default_dt']
178181
eliflen(args)==5:
179182
# Discrete time system
180183
(A,B,C,D,dt)=args
@@ -190,9 +193,12 @@ def __init__(self, *args, **kw):
190193
try:
191194
dt=args[0].dt
192195
exceptNameError:
193-
dt=config.defaults['statesp.default_dt']
196+
if_isstaticgain(A,B,C,D):
197+
dt=None
198+
else:
199+
dt=config.defaults['statesp.default_dt']
194200
else:
195-
raiseValueError("Needs 1or4 arguments; received %i."%len(args))
201+
raiseValueError("Expected 1, 4,or5 arguments; received %i."%len(args))
196202

197203
# Process keyword arguments
198204
remove_useless=kw.get('remove_useless',config.defaults['statesp.remove_useless_states'])
@@ -316,14 +322,7 @@ def __add__(self, other):
316322
(self.outputs!=other.outputs)):
317323
raiseValueError("Systems have different shapes.")
318324

319-
# Figure out the sampling time to use
320-
ifself.dtisNoneandother.dtisnotNone:
321-
dt=other.dt# use dt from second argument
322-
elif (other.dtisNoneandself.dtisnotNone)or \
323-
(timebaseEqual(self,other)):
324-
dt=self.dt# use dt from first argument
325-
else:
326-
raiseValueError("Systems have different sampling times")
325+
dt=common_timebase(self.dt,other.dt)
327326

328327
# Concatenate the various arrays
329328
A=concatenate((
@@ -372,16 +371,8 @@ def __mul__(self, other):
372371
# Check to make sure the dimensions are OK
373372
ifself.inputs!=other.outputs:
374373
raiseValueError("C = A * B: A has %i column(s) (input(s)),\
375-
but B has %i row(s)\n(output(s))."% (self.inputs,other.outputs))
376-
377-
# Figure out the sampling time to use
378-
if (self.dt==Noneandother.dt!=None):
379-
dt=other.dt# use dt from second argument
380-
elif (other.dt==Noneandself.dt!=None)or \
381-
(timebaseEqual(self,other)):
382-
dt=self.dt# use dt from first argument
383-
else:
384-
raiseValueError("Systems have different sampling times")
374+
but B has %i row(s)\n(output(s))."% (self.inputs,other.outputs))
375+
dt=common_timebase(self.dt,other.dt)
385376

386377
# Concatenate the various arrays
387378
A=concatenate(
@@ -453,9 +444,8 @@ def _evalfr(self, omega):
453444
"""Evaluate a SS system's transfer function at a single frequency"""
454445
# Figure out the point to evaluate the transfer function
455446
ifisdtime(self,strict=True):
456-
dt=timebase(self)
457-
s=exp(1.j*omega*dt)
458-
ifomega*dt>math.pi:
447+
s=exp(1.j*omega*self.dt)
448+
ifomega*self.dt>math.pi:
459449
warn("_evalfr: frequency evaluation above Nyquist frequency")
460450
else:
461451
s=omega*1.j
@@ -512,9 +502,8 @@ def freqresp(self, omega):
512502
# axis (continuous time) or unit circle (discrete time).
513503
omega.sort()
514504
ifisdtime(self,strict=True):
515-
dt=timebase(self)
516-
cmplx_freqs=exp(1.j*omega*dt)
517-
ifmax(np.abs(omega))*dt>math.pi:
505+
cmplx_freqs=exp(1.j*omega*self.dt)
506+
ifmax(np.abs(omega))*self.dt>math.pi:
518507
warn("freqresp: frequency evaluation above Nyquist frequency")
519508
else:
520509
cmplx_freqs=omega*1.j
@@ -617,14 +606,7 @@ def feedback(self, other=1, sign=-1):
617606
if (self.inputs!=other.outputs)or (self.outputs!=other.inputs):
618607
raiseValueError("State space systems don't have compatible inputs/outputs for "
619608
"feedback.")
620-
621-
# Figure out the sampling time to use
622-
ifself.dtisNoneandother.dtisnotNone:
623-
dt=other.dt# use dt from second argument
624-
elifother.dtisNoneandself.dtisnotNoneortimebaseEqual(self,other):
625-
dt=self.dt# use dt from first argument
626-
else:
627-
raiseValueError("Systems have different sampling times")
609+
dt=common_timebase(self.dt,other.dt)
628610

629611
A1=self.A
630612
B1=self.B
@@ -694,14 +676,7 @@ def lft(self, other, nu=-1, ny=-1):
694676
# dimension check
695677
# TODO
696678

697-
# Figure out the sampling time to use
698-
if (self.dt==Noneandother.dt!=None):
699-
dt=other.dt# use dt from second argument
700-
elif (other.dt==Noneandself.dt!=None)or \
701-
timebaseEqual(self,other):
702-
dt=self.dt# use dt from first argument
703-
else:
704-
raiseValueError("Systems have different time bases")
679+
dt=common_timebase(self.dt,other.dt)
705680

706681
# submatrices
707682
A=self.A
@@ -815,8 +790,7 @@ def append(self, other):
815790
ifnotisinstance(other,StateSpace):
816791
other=_convertToStateSpace(other)
817792

818-
ifself.dt!=other.dt:
819-
raiseValueError("Systems must have the same time step")
793+
self.dt=common_timebase(self.dt,other.dt)
820794

821795
n=self.states+other.states
822796
m=self.inputs+other.inputs
@@ -1246,6 +1220,11 @@ def _mimo2simo(sys, input, warn_conversion=False):
12461220

12471221
returnsys
12481222

1223+
def_isstaticgain(A,B,C,D):
1224+
"""returns True if and only if the system has no dynamics, that is,
1225+
if A and B are zero. """
1226+
returnnotnp.any(np.matrix(A,dtype=float)) \
1227+
andnotnp.any(np.matrix(B,dtype=float))
12491228

12501229
defss(*args):
12511230
"""ss(A, B, C, D[, dt])

‎control/tests/config_test.py

Lines changed: 18 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -218,14 +218,27 @@ def test_legacy_defaults(self):
218218
assert(isinstance(ct.ss(0,0,0,1).D,np.ndarray))
219219

220220
deftest_change_default_dt(self):
221-
ct.set_defaults('statesp',default_dt=0)
222-
self.assertEqual(ct.ss(0,0,0,1).dt,0)
223-
ct.set_defaults('statesp',default_dt=None)
224-
self.assertEqual(ct.ss(0,0,0,1).dt,None)
221+
# TransferFunction
222+
# test that system with dynamics uses correct default dt
225223
ct.set_defaults('xferfcn',default_dt=0)
226-
self.assertEqual(ct.tf(1,1).dt,0)
224+
self.assertEqual(ct.tf(1,[1,1]).dt,0)
227225
ct.set_defaults('xferfcn',default_dt=None)
226+
self.assertEqual(ct.tf(1, [1,1]).dt,None)
227+
# test that a static gain transfer function always has dt=None
228+
ct.set_defaults('xferfcn',default_dt=0)
228229
self.assertEqual(ct.tf(1,1).dt,None)
230+
231+
# StateSpace
232+
# test that system with dynamics uses correct default dt
233+
ct.set_defaults('statesp',default_dt=0)
234+
self.assertEqual(ct.ss(1,0,0,1).dt,0)
235+
ct.set_defaults('statesp',default_dt=None)
236+
self.assertEqual(ct.ss(1,0,0,1).dt,None)
237+
# test that a static gain state space system always has dt=None
238+
ct.set_defaults('statesp',default_dt=0)
239+
self.assertEqual(ct.ss(0,0,0,1).dt,None)
240+
241+
ct.reset_defaults()
229242

230243

231244
deftearDown(self):

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