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Commitafd3fe3

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Lint fixes to examples/*.py
1 parent223c38f commitafd3fe3

14 files changed

+53
-66
lines changed

‎examples/bdalg-matlab.py

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,7 @@
1-
# bdalg-matlab.py - demonstrate some MATLAB commands for block diagramaltebra
1+
# bdalg-matlab.py - demonstrate some MATLAB commands for block diagramalgebra
22
# RMM, 29 May 09
33

4-
fromcontrol.matlabimport*# MATLAB-like functions
4+
fromcontrol.matlabimportss,ss2tf,tf,tf2ss# MATLAB-like functions
55

66
# System matrices
77
A1= [[0,1.], [-4,-1]]

‎examples/check-controllability-and-observability.py

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -4,8 +4,8 @@
44
RMM, 6 Sep 2010
55
"""
66

7-
importnumpyasnp# Load thescipy functions
8-
fromcontrol.matlabimport*# Load the controls systems library
7+
importnumpyasnp# Load thenumpy functions
8+
fromcontrol.matlabimportss,ctrb,obsv# Load the controls systems library
99

1010
# Parameters defining the system
1111

‎examples/cruise-control.py

Lines changed: 3 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -247,7 +247,6 @@ def pi_update(t, x, u, params={}):
247247
# Assign variables for inputs and states (for readability)
248248
v=u[0]# current velocity
249249
vref=u[1]# reference velocity
250-
z=x[0]# integrated error
251250

252251
# Compute the nominal controller output (needed for anti-windup)
253252
u_a=pi_output(t,x,u,params)
@@ -394,7 +393,7 @@ def sf_output(t, z, u, params={}):
394393
ud=params.get('ud',0)
395394

396395
# Get the system state and reference input
397-
x,y,r=u[0],u[1],u[2]
396+
x,r=u[0],u[2]
398397

399398
returnud-K* (x-xd)-ki*z+kf* (r-yd)
400399

@@ -440,13 +439,13 @@ def sf_output(t, z, u, params={}):
440439
4./180.*pifortinT]
441440
t,y=ct.input_output_response(
442441
cruise_sf,T, [vref,gear,theta_hill], [X0[0],0],
443-
params={'K':K,'kf':kf,'ki':0.0,'kf':kf,'xd':xd,'ud':ud,'yd':yd})
442+
params={'K':K,'kf':kf,'ki':0.0,'xd':xd,'ud':ud,'yd':yd})
444443
subplots=cruise_plot(cruise_sf,t,y,label='Proportional',linetype='b--')
445444

446445
# Response of the system with state feedback + integral action
447446
t,y=ct.input_output_response(
448447
cruise_sf,T, [vref,gear,theta_hill], [X0[0],0],
449-
params={'K':K,'kf':kf,'ki':0.1,'kf':kf,'xd':xd,'ud':ud,'yd':yd})
448+
params={'K':K,'kf':kf,'ki':0.1,'xd':xd,'ud':ud,'yd':yd})
450449
cruise_plot(cruise_sf,t,y,label='PI control',t_hill=8,linetype='b-',
451450
subplots=subplots,legend=True)
452451

‎examples/kincar.py

Lines changed: 0 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -3,7 +3,6 @@
33

44
importnumpyasnp
55
importmatplotlib.pyplotasplt
6-
importcontrolasct
76
importcontrol.flatsysasfs
87

98
#

‎examples/mrac_siso_mit.py

Lines changed: 0 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -46,7 +46,6 @@ def adaptive_controller_state(t, xc, uc, params):
4646
# Parameters
4747
gam=params["gam"]
4848
Am=params["Am"]
49-
Bm=params["Bm"]
5049
signB=params["signB"]
5150

5251
# Controller inputs

‎examples/phase_plane_plots.py

Lines changed: 1 addition & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -5,9 +5,8 @@
55
# using the phaseplot module. Most of these figures line up with examples
66
# in FBS2e, with different display options shown as different subplots.
77

8-
importtime
98
importwarnings
10-
frommathimportpi,sqrt
9+
frommathimportpi
1110

1211
importmatplotlib.pyplotasplt
1312
importnumpyasnp

‎examples/pvtol-nested-ss.py

Lines changed: 22 additions & 23 deletions
Original file line numberDiff line numberDiff line change
@@ -10,7 +10,6 @@
1010

1111
importos
1212
importmatplotlib.pyplotasplt# MATLAB plotting functions
13-
fromcontrol.matlabimport*# MATLAB-like functions
1413
importnumpyasnp
1514
importmath
1615
importcontrolasct
@@ -23,12 +22,12 @@
2322
c=0.05# damping factor (estimated)
2423

2524
# Transfer functions for dynamics
26-
Pi=tf([r], [J,0,0])# inner loop (roll)
27-
Po=tf([1], [m,c,0])# outer loop (position)
25+
Pi=ct.tf([r], [J,0,0])# inner loop (roll)
26+
Po=ct.tf([1], [m,c,0])# outer loop (position)
2827

2928
# Use state space versions
30-
Pi=tf2ss(Pi)
31-
Po=tf2ss(Po)
29+
Pi=ct.tf2ss(Pi)
30+
Po=ct.tf2ss(Po)
3231

3332
#
3433
# Inner loop control design
@@ -40,68 +39,68 @@
4039

4140
# Design a simple lead controller for the system
4241
k,a,b=200,2,50
43-
Ci=k*tf([1,a], [1,b])# lead compensator
42+
Ci=k*ct.tf([1,a], [1,b])# lead compensator
4443

4544
# Convert to statespace
46-
Ci=tf2ss(Ci)
45+
Ci=ct.tf2ss(Ci)
4746

4847
# Compute the loop transfer function for the inner loop
4948
Li=Pi*Ci
5049

5150

5251
# Bode plot for the open loop process
5352
plt.figure(1)
54-
bode(Pi)
53+
ct.bode(Pi)
5554

5655
# Bode plot for the loop transfer function, with margins
5756
plt.figure(2)
58-
bode(Li)
57+
ct.bode(Li)
5958

6059
# Compute out the gain and phase margins
6160
#! Not implemented
6261
# (gm, pm, wcg, wcp) = margin(Li);
6362

6463
# Compute the sensitivity and complementary sensitivity functions
65-
Si=feedback(1,Li)
64+
Si=ct.feedback(1,Li)
6665
Ti=Li*Si
6766

6867
# Check to make sure that the specification is met
6968
plt.figure(3)
70-
gangof4(Pi,Ci)
69+
ct.gangof4(Pi,Ci)
7170

7271
# Compute out the actual transfer function from u1 to v1 (see L8.2 notes)
7372
# Hi = Ci*(1-m*g*Pi)/(1+Ci*Pi);
74-
Hi=parallel(feedback(Ci,Pi),-m*g*feedback(Ci*Pi,1))
73+
Hi=ct.parallel(ct.feedback(Ci,Pi),-m*g*ct.feedback(Ci*Pi,1))
7574

7675
plt.figure(4)
7776
plt.clf()
78-
bode(Hi)
77+
ct.bode(Hi)
7978

8079
# Now design the lateral control system
8180
a,b,K=0.02,5,2
82-
Co=-K*tf([1,0.3], [1,10])# another lead compensator
81+
Co=-K*ct.tf([1,0.3], [1,10])# another lead compensator
8382

8483
# Convert to statespace
85-
Co=tf2ss(Co)
84+
Co=ct.tf2ss(Co)
8685

8786
# Compute the loop transfer function for the outer loop
8887
Lo=-m*g*Po*Co
8988

9089
plt.figure(5)
91-
bode(Lo,display_margins=True)# margin(Lo)
90+
ct.bode(Lo,display_margins=True)# margin(Lo)
9291

9392
# Finally compute the real outer-loop loop gain + responses
9493
L=Co*Hi*Po
95-
S=feedback(1,L)
96-
T=feedback(L,1)
94+
S=ct.feedback(1,L)
95+
T=ct.feedback(L,1)
9796

9897
# Compute stability margins
9998
#! Not yet implemented
10099
# (gm, pm, wgc, wpc) = margin(L);
101100

102101
plt.figure(6)
103102
plt.clf()
104-
out=ct.bode(L,logspace(-4,3),initial_phase=-math.pi/2)
103+
out=ct.bode(L,np.logspace(-4,3),initial_phase=-math.pi/2)
105104
axs=ct.get_plot_axes(out)
106105

107106
# Add crossover line to magnitude plot
@@ -111,7 +110,7 @@
111110
# Nyquist plot for complete design
112111
#
113112
plt.figure(7)
114-
nyquist(L)
113+
ct.nyquist(L)
115114

116115
# set up the color
117116
color='b'
@@ -126,10 +125,10 @@
126125
# 'EdgeColor', color, 'FaceColor', color);
127126

128127
plt.figure(9)
129-
Yvec,Tvec=step(T,linspace(1,20))
128+
Yvec,Tvec=ct.step_response(T,np.linspace(1,20))
130129
plt.plot(Tvec.T,Yvec.T)
131130

132-
Yvec,Tvec=step(Co*S,linspace(1,20))
131+
Yvec,Tvec=ct.step_response(Co*S,np.linspace(1,20))
133132
plt.plot(Tvec.T,Yvec.T)
134133

135134
#TODO: PZmap for statespace systems has not yet been implemented.
@@ -142,7 +141,7 @@
142141
# Gang of Four
143142
plt.figure(11)
144143
plt.clf()
145-
gangof4(Hi*Po,Co,linspace(-2,3))
144+
ct.gangof4(Hi*Po,Co,np.linspace(-2,3))
146145

147146
if'PYCONTROL_TEST_EXAMPLES'notinos.environ:
148147
plt.show()

‎examples/pvtol.py

Lines changed: 0 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -64,8 +64,6 @@ def _pvtol_flat_forward(states, inputs, params={}):
6464
F1,F2=inputs
6565

6666
# Use equations of motion for higher derivates
67-
x1ddot= (F1*cos(theta)-F2*sin(theta))/m
68-
x2ddot= (F1*sin(theta)+F2*cos(theta)-m*g)/m
6967
thddot= (r*F1)/J
7068

7169
# Flat output is a point above the vertical axis
@@ -110,7 +108,6 @@ def _pvtol_flat_reverse(zflag, params={}):
110108
J=params.get('J',0.0475)# inertia around pitch axis
111109
r=params.get('r',0.25)# distance to center of force
112110
g=params.get('g',9.8)# gravitational constant
113-
c=params.get('c',0.05)# damping factor (estimated)
114111

115112
# Given the flat variables, solve for the state
116113
theta=np.arctan2(-zflag[0][2],zflag[1][2]+g)
@@ -185,18 +182,13 @@ def _windy_update(t, x, u, params):
185182
def_noisy_update(t,x,u,params):
186183
# Get the inputs
187184
F1,F2,Dx,Dy=u[:4]
188-
ifu.shape[0]>4:
189-
Nx,Ny,Nth=u[4:]
190-
else:
191-
Nx,Ny,Nth=0,0,0
192185

193186
# Get the system response from the original dynamics
194187
xdot,ydot,thetadot,xddot,yddot,thddot= \
195188
_pvtol_update(t,x,u[0:2],params)
196189

197190
# Get the parameter values we need
198191
m=params.get('m',4.)# mass of aircraft
199-
J=params.get('J',0.0475)# inertia around pitch axis
200192

201193
# Now add the disturbances
202194
xddot+=Dx/m
@@ -219,7 +211,6 @@ def _noisy_output(t, x, u, params):
219211
defpvtol_noisy_A(x,u,params={}):
220212
# Get the parameter values we need
221213
m=params.get('m',4.)# mass of aircraft
222-
J=params.get('J',0.0475)# inertia around pitch axis
223214
c=params.get('c',0.05)# damping factor (estimated)
224215

225216
# Get the angle and compute sine and cosine

‎examples/secord-matlab.py

Lines changed: 4 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -3,7 +3,8 @@
33

44
importos
55
importmatplotlib.pyplotasplt# MATLAB plotting functions
6-
fromcontrol.matlabimport*# MATLAB-like functions
6+
importnumpyasnp
7+
fromcontrol.matlabimportss,step,bode,nyquist,rlocus# MATLAB-like functions
78

89
# Parameters defining the system
910
m=250.0# system mass
@@ -24,15 +25,15 @@
2425

2526
# Bode plot for the system
2627
plt.figure(2)
27-
mag,phase,om=bode(sys,logspace(-2,2),plot=True)
28+
mag,phase,om=bode(sys,np.logspace(-2,2),plot=True)
2829
plt.show(block=False)
2930

3031
# Nyquist plot for the system
3132
plt.figure(3)
3233
nyquist(sys)
3334
plt.show(block=False)
3435

35-
# Rootlcous plot for the system
36+
# Rootlocus plot for the system
3637
rlocus(sys)
3738

3839
if'PYCONTROL_TEST_EXAMPLES'notinos.environ:

‎examples/sisotool_example.py

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -10,24 +10,24 @@
1010

1111
#%%
1212
importmatplotlib.pyplotasplt
13-
fromcontrol.matlabimport*
13+
importcontrolasct
1414

1515
# first example, aircraft attitude equation
16-
s=tf([1,0],[1])
16+
s=ct.tf([1,0],[1])
1717
Kq=-24
1818
T2=1.4
1919
damping=2/(13**.5)
2020
omega=13**.5
2121
H= (Kq*(1+T2*s))/(s*(s**2+2*damping*omega*s+omega**2))
2222
plt.close('all')
23-
sisotool(-H)
23+
ct.sisotool(-H)
2424

2525
#%%
2626

2727
# a simple RL, with multiple poles in the origin
2828
plt.close('all')
2929
H= (s+0.3)/(s**4+4*s**3+6.25*s**2)
30-
sisotool(H)
30+
ct.sisotool(H)
3131

3232
#%%
3333

@@ -43,4 +43,4 @@
4343
plt.close('all')
4444
H= (b0+b1*s+b2*s**2)/ (a0+a1*s+a2*s**2+a3*s**3)
4545

46-
sisotool(H)
46+
ct.sisotool(H)

‎examples/slycot-import-test.py

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -5,7 +5,7 @@
55
"""
66

77
importnumpyasnp
8-
fromcontrol.matlabimport*
8+
importcontrolasct
99
fromcontrol.exceptionimportslycot_check
1010

1111
# Parameters defining the system
@@ -17,12 +17,12 @@
1717
A=np.array([[1,-1,1.], [1,-k/m,-b/m], [1,1,1]])
1818
B=np.array([[0], [1/m], [1]])
1919
C=np.array([[1.,0,1.]])
20-
sys=ss(A,B,C,0)
20+
sys=ct.ss(A,B,C,0)
2121

2222
# Python control may be used without slycot, for example for a pole placement.
2323
# Eigenvalue placement
2424
w= [-3,-2,-1]
25-
K=place(A,B,w)
25+
K=ct.place(A,B,w)
2626
print("[python-control (from scipy)] K = ",K)
2727
print("[python-control (from scipy)] eigs = ",np.linalg.eig(A-B*K)[0])
2828

‎examples/type2_type3.py

Lines changed: 10 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -4,9 +4,10 @@
44

55
importos
66
importmatplotlib.pyplotasplt# Grab MATLAB plotting functions
7-
fromcontrol.matlabimport*# MATLAB-like functions
8-
fromnumpyimportpi
9-
integrator=tf([0,1], [1,0])# 1/s
7+
importcontrolasct
8+
importnumpyasnp
9+
10+
integrator=ct.tf([0,1], [1,0])# 1/s
1011

1112
# Parameters defining the system
1213
J=1.0
@@ -29,20 +30,20 @@
2930

3031
# System Transfer Functions
3132
# tricky because the disturbance (base motion) is coupled in by friction
32-
closed_loop_type2=feedback(C_type2*feedback(P,friction),gyro)
33+
closed_loop_type2=ct.feedback(C_type2*ct.feedback(P,friction),gyro)
3334
disturbance_rejection_type2=P*friction/(1.+P*friction+P*C_type2)
34-
closed_loop_type3=feedback(C_type3*feedback(P,friction),gyro)
35+
closed_loop_type3=ct.feedback(C_type3*ct.feedback(P,friction),gyro)
3536
disturbance_rejection_type3=P*friction/(1.+P*friction+P*C_type3)
3637

3738
# Bode plot for the system
3839
plt.figure(1)
39-
bode(closed_loop_type2,logspace(0,2)*2*pi,dB=True,Hz=True)# blue
40-
bode(closed_loop_type3,logspace(0,2)*2*pi,dB=True,Hz=True)# green
40+
ct.bode(closed_loop_type2,np.logspace(0,2)*2*np.pi,dB=True,Hz=True)# blue
41+
ct.bode(closed_loop_type3,np.logspace(0,2)*2*np.pi,dB=True,Hz=True)# green
4142
plt.show(block=False)
4243

4344
plt.figure(2)
44-
bode(disturbance_rejection_type2,logspace(0,2)*2*pi,Hz=True)# blue
45-
bode(disturbance_rejection_type3,logspace(0,2)*2*pi,Hz=True)# green
45+
ct.bode(disturbance_rejection_type2,np.logspace(0,2)*2*np.pi,Hz=True)# blue
46+
ct.bode(disturbance_rejection_type3,np.logspace(0,2)*2*np.pi,Hz=True)# green
4647

4748
if'PYCONTROL_TEST_EXAMPLES'notinos.environ:
4849
plt.show()

‎examples/vehicle.py

Lines changed: 0 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -3,7 +3,6 @@
33

44
importnumpyasnp
55
importmatplotlib.pyplotasplt
6-
importcontrolasct
76
importcontrol.flatsysasfs
87

98
#

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