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Commitc387c69

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TRV: removed trailing spaces
1 parent3bfd2be commitc387c69

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11 files changed

+85
-84
lines changed

11 files changed

+85
-84
lines changed

‎control/config.py

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -11,7 +11,7 @@
1111
bode_dB=False# Bode plot magnitude units
1212
bode_deg=True# Bode Plot phase units
1313
bode_Hz=False# Bode plot frequency units
14-
bode_number_of_samples=None# Bode plot number of samples
14+
bode_number_of_samples=None# Bode plot number of samples
1515
bode_feature_periphery_decade=1.0# Bode plot feature periphery in decades
1616

1717
# Set defaults to match MATLAB
@@ -29,7 +29,7 @@ def use_matlab_defaults():
2929
defuse_fbs_defaults():
3030
"""
3131
Use `Astrom and Murray <http://fbsbook.org>`_ compatible settings
32-
* Bode plots plot gain in powers of ten, phase in degrees,
32+
* Bode plots plot gain in powers of ten, phase in degrees,
3333
frequency in Hertz
3434
"""
3535
# Bode plot defaults

‎control/exception.py

Lines changed: 8 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -2,7 +2,7 @@
22
#
33
# Author: Richard M. Murray
44
# Date: 31 May 2010
5-
#
5+
#
66
# This file contains definitions of standard exceptions for the control package
77
#
88
# Copyright (c) 2010 by California Institute of Technology
@@ -14,16 +14,16 @@
1414
#
1515
# 1. Redistributions of source code must retain the above copyright
1616
# notice, this list of conditions and the following disclaimer.
17-
#
17+
#
1818
# 2. Redistributions in binary form must reproduce the above copyright
1919
# notice, this list of conditions and the following disclaimer in the
2020
# documentation and/or other materials provided with the distribution.
21-
#
21+
#
2222
# 3. Neither the name of the California Institute of Technology nor
2323
# the names of its contributors may be used to endorse or promote
2424
# products derived from this software without specific prior
2525
# written permission.
26-
#
26+
#
2727
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
2828
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
2929
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
@@ -36,19 +36,19 @@
3636
# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
3737
# OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
3838
# SUCH DAMAGE.
39-
#
39+
#
4040
# $Id$
4141

42-
classControlSlycot(Exception):
42+
classControlSlycot(Exception):
4343
"""Exception for Slycot import. Used when we can't import a function
4444
from the slycot package"""
4545
pass
4646

47-
classControlDimension(Exception):
47+
classControlDimension(Exception):
4848
"""Raised when dimensions of system objects are not correct"""
4949
pass
5050

51-
classControlArgument(Exception):
51+
classControlArgument(Exception):
5252
"""Raised when arguments to a function are not correct"""
5353
pass
5454

‎control/freqplot.py

Lines changed: 38 additions & 37 deletions
Original file line numberDiff line numberDiff line change
@@ -78,11 +78,11 @@ def bode_plot(syslist, omega=None, dB=None, Hz=None, deg=None,
7878
If True, plot phase in degrees (else radians)
7979
Plot : boolean
8080
If True, plot magnitude and phase
81-
omega_limits: tuple, list, ... of two values
81+
omega_limits: tuple, list, ... of two values
8282
Limits of the to generate frequency vector.
8383
If Hz=True the limits are in Hz otherwise in rad/s.
8484
omega_num: int
85-
number of samples
85+
number of samples
8686
*args, **kwargs:
8787
Additional options to matplotlib (color, linestyle, etc)
8888
@@ -120,7 +120,7 @@ def bode_plot(syslist, omega=None, dB=None, Hz=None, deg=None,
120120
# If argument was a singleton, turn it into a list
121121
if (notgetattr(syslist,'__iter__',False)):
122122
syslist= (syslist,)
123-
123+
124124
ifomegaisNone:
125125
ifomega_limitsisNone:
126126
# Select a default range if none is provided
@@ -133,7 +133,7 @@ def bode_plot(syslist, omega=None, dB=None, Hz=None, deg=None,
133133
omega=sp.logspace(np.log10(omega_limits[0]),np.log10(omega_limits[1]),num=omega_num,endpoint=True)
134134
else:
135135
omega=sp.logspace(np.log10(omega_limits[0]),np.log10(omega_limits[1]),endpoint=True)
136-
136+
137137
mags,phases,omegas,nyquistfrqs= [], [], [], []
138138
forsysinsyslist:
139139
if (sys.inputs>1orsys.outputs>1):
@@ -142,8 +142,8 @@ def bode_plot(syslist, omega=None, dB=None, Hz=None, deg=None,
142142
else:
143143
omega_sys=np.array(omega)
144144
ifsys.isdtime(True):
145-
nyquistfrq=2.*np.pi*1./sys.dt/2.
146-
omega_sys=omega_sys[omega_sys<nyquistfrq]
145+
nyquistfrq=2.*np.pi*1./sys.dt/2.
146+
omega_sys=omega_sys[omega_sys<nyquistfrq]
147147
# TODO: What distance to the Nyquist frequency is appropriate?
148148
else:
149149
nyquistfrq=None
@@ -179,7 +179,7 @@ def bode_plot(syslist, omega=None, dB=None, Hz=None, deg=None,
179179
plt.hold(True);
180180
ifnyquistfrq_plot:
181181
ax_mag.axvline(nyquistfrq_plot,color=pltline[0].get_color())
182-
182+
183183
# Add a grid to the plot + labeling
184184
ax_mag.grid(True,which='both')
185185
ax_mag.set_ylabel("Magnitude (dB)"ifdBelse"Magnitude")
@@ -194,30 +194,31 @@ def bode_plot(syslist, omega=None, dB=None, Hz=None, deg=None,
194194
ax_phase.hold(True);
195195
ifnyquistfrq_plot:
196196
ax_phase.axvline(nyquistfrq_plot,color=pltline[0].get_color())
197-
197+
198198
# Add a grid to the plot + labeling
199-
ax_phase.set_ylabel("Phase (deg)"ifdegelse"Phase (rad)")
199+
ax_phase.set_ylabel("Phase (deg)"ifdegelse"Phase (rad)")
200+
200201
defgenZeroCenteredSeries(val_min,val_max,period):
201202
v1=np.ceil(val_min/period-0.2)
202203
v2=np.floor(val_max/period+0.2)
203-
returnnp.arange(v1,v2+1)*period
204+
returnnp.arange(v1,v2+1)*period
204205
ifdeg:
205206
ylim=ax_phase.get_ylim()
206-
ax_phase.set_yticks(genZeroCenteredSeries(ylim[0],ylim[1],45.))
207-
ax_phase.set_yticks(genZeroCenteredSeries(ylim[0],ylim[1],15.),minor=True)
207+
ax_phase.set_yticks(genZeroCenteredSeries(ylim[0],ylim[1],45.))
208+
ax_phase.set_yticks(genZeroCenteredSeries(ylim[0],ylim[1],15.),minor=True)
208209
else:
209210
ylim=ax_phase.get_ylim()
210-
ax_phase.set_yticks(genZeroCenteredSeries(ylim[0],ylim[1],np.pi/4.))
211+
ax_phase.set_yticks(genZeroCenteredSeries(ylim[0],ylim[1],np.pi/4.))
211212
ax_phase.set_yticks(genZeroCenteredSeries(ylim[0],ylim[1],np.pi/12.),minor=True)
212213
ax_phase.grid(True,which='both')
213-
# ax_mag.grid(which='minor', alpha=0.3)
214+
# ax_mag.grid(which='minor', alpha=0.3)
214215
# ax_mag.grid(which='major', alpha=0.9)
215-
# ax_phase.grid(which='minor', alpha=0.3)
216-
# ax_phase.grid(which='major', alpha=0.9)
217-
216+
# ax_phase.grid(which='minor', alpha=0.3)
217+
# ax_phase.grid(which='major', alpha=0.9)
218+
218219
# Label the frequency axis
219-
ax_phase.set_xlabel("Frequency (Hz)"ifHzelse"Frequency (rad/sec)")
220-
220+
ax_phase.set_xlabel("Frequency (Hz)"ifHzelse"Frequency (rad/sec)")
221+
221222
iflen(syslist)==1:
222223
returnmags[0],phases[0],omegas[0]
223224
else:
@@ -314,7 +315,7 @@ def nyquist_plot(syslist, omega=None, Plot=True, color='b',
314315
# instead of 1.0, and this would otherwise be
315316
# truncated to 0.
316317
plt.text(xpt,ypt,
317-
' '+str(int(np.round(f/1000**pow1000,0)))+
318+
' '+str(int(np.round(f/1000**pow1000,0)))+
318319
' '+prefix+'Hz')
319320
returnx,y,omega
320321

@@ -394,18 +395,18 @@ def default_frequency_range(syslist, Hz=None, number_of_samples=None, feature_pe
394395
syslist : list of LTI
395396
List of linear input/output systems (single system is OK)
396397
Hz: boolean
397-
If True, the limits (first and last value) of the frequencies
398-
are set to full decades in Hz so it fits plotting with logarithmic
398+
If True, the limits (first and last value) of the frequencies
399+
are set to full decades in Hz so it fits plotting with logarithmic
399400
scale in Hz otherwise in rad/s. Omega is always returned in rad/sec.
400401
number_of_samples: int
401402
Number of samples to generate
402403
feature_periphery_decade: float
403-
Defines how many decades shall be included in the frequency range on
404-
both sides of features (poles, zeros).
404+
Defines how many decades shall be included in the frequency range on
405+
both sides of features (poles, zeros).
405406
Example: If there is a feature, e.g. a pole, at 1Hz and feature_periphery_decade=1.
406-
then the range of frequencies shall span 0.1 .. 10 Hz.
407+
then the range of frequencies shall span 0.1 .. 10 Hz.
407408
The default value is read from config.bode_feature_periphery_decade.
408-
409+
409410
Returns
410411
-------
411412
omega : array
@@ -425,14 +426,14 @@ def default_frequency_range(syslist, Hz=None, number_of_samples=None, feature_pe
425426

426427
# Set default values for options
427428
from .importconfig
428-
if (number_of_samplesisNone):
429+
if (number_of_samplesisNone):
429430
number_of_samples=config.bode_number_of_samples
430-
if (feature_periphery_decadeisNone):
431-
feature_periphery_decade=config.bode_feature_periphery_decade
431+
if (feature_periphery_decadeisNone):
432+
feature_periphery_decade=config.bode_feature_periphery_decade
432433

433434
# Find the list of all poles and zeros in the systems
434435
features=np.array(())
435-
freq_interesting= []
436+
freq_interesting= []
436437

437438
# detect if single sys passed by checking if it is sequence-like
438439
if (notgetattr(syslist,'__iter__',False)):
@@ -443,34 +444,34 @@ def default_frequency_range(syslist, Hz=None, number_of_samples=None, feature_pe
443444
# Add new features to the list
444445
ifsys.isctime():
445446
features_=np.concatenate((np.abs(sys.pole()),
446-
np.abs(sys.zero())))
447+
np.abs(sys.zero())))
447448
# Get rid of poles and zeros at the origin
448449
features_=features_[features_!=0.0];
449450
features=np.concatenate((features,features_))
450451
elifsys.isdtime(strict=True):
451452
fn=np.pi*1./sys.dt
452-
# TODO: What distance to the Nyquist frequency is appropriate?
453+
# TODO: What distance to the Nyquist frequency is appropriate?
453454
freq_interesting.append(fn*0.9)
454455

455456
features_=np.concatenate((sys.pole(),
456-
sys.zero()))
457-
# Get rid of poles and zeros
457+
sys.zero()))
458+
# Get rid of poles and zeros
458459
# * at the origin and real <= 0 & imag==0: log!
459460
# * at 1.: would result in omega=0. (logaritmic plot!)
460461
features_=features_[(features_.imag!=0.0)| (features_.real>0.)]
461462
features_=features_[np.bitwise_not((features_.imag==0.0)& (np.abs(features_.real-1.0)<1.e-10))]
462463
# TODO: improve
463464
features__=np.abs(np.log(features_)/ (1.j*sys.dt))
464-
features=np.concatenate((features,features__))
465+
features=np.concatenate((features,features__))
465466
else:
466467
# TODO
467-
raiseNotImplementedError('type of system in not implemented now')
468+
raiseNotImplementedError('type of system in not implemented now')
468469
except:
469470
pass
470471

471472

472473
# Make sure there is at least one point in the range
473-
if (features.shape[0]==0):
474+
if (features.shape[0]==0):
474475
features=np.array([1.]);
475476

476477
ifHz:

‎control/margins.py

Lines changed: 8 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -130,7 +130,7 @@ def stability_margins(sysdata, returnall=False, epsw=1e-8):
130130
sys=sysdata
131131
elifgetattr(sysdata,'__iter__',False)andlen(sysdata)==3:
132132
mag,phase,omega=sysdata
133-
sys=frdata.FRD(mag*np.exp(1j*phase*np.pi/180),
133+
sys=frdata.FRD(mag*np.exp(1j*phase*np.pi/180),
134134
omega,smooth=True)
135135
else:
136136
sys=xferfcn._convertToTransferFunction(sysdata)
@@ -163,7 +163,7 @@ def stability_margins(sysdata, returnall=False, epsw=1e-8):
163163
# evaluate response at remaining frequencies, to test for phase 180 vs 0
164164
resp_w_180=np.real(np.polyval(sys.num[0][0],1.j*w_180)/
165165
np.polyval(sys.den[0][0],1.j*w_180))
166-
#print ('resp_w_180', resp_w_180)
166+
#print ('resp_w_180', resp_w_180)
167167

168168
# only keep frequencies where the negative real axis is crossed
169169
w_180=w_180[np.real(resp_w_180)<0.0]
@@ -192,7 +192,7 @@ def stability_margins(sysdata, returnall=False, epsw=1e-8):
192192
# find the solutions, for positive omega, and only real ones
193193
wstab=np.roots(test_wstab)
194194
#print('wstabr', wstab)
195-
wstab=np.real(wstab[(np.imag(wstab)==0)*
195+
wstab=np.real(wstab[(np.imag(wstab)==0)*
196196
(np.real(wstab)>=0)])
197197
#print('wstab', wstab)
198198

@@ -224,7 +224,7 @@ def dstab(w):
224224
wc=np.array(
225225
[sp.optimize.brentq(mod,sys.omega[i],sys.omega[i+1])
226226
foriinwidxifi+1<len(sys.omega)])
227-
227+
228228
# find the phase crossings ang(H(jw) == -180
229229
widx=np.where(np.diff(np.sign(arg(sys.omega))))[0]
230230
#print('widx (180)', widx, sys.omega[widx])
@@ -246,17 +246,17 @@ def dstab(w):
246246
foriinwidxifi+1<len(sys.omega)and
247247
np.diff(np.diff(dstab(sys.omega[i-1:i+2])))[0]>0 ])
248248
#print('wstabf0', wstab)
249-
wstab=wstab[(wstab>=sys.omega[0])*
249+
wstab=wstab[(wstab>=sys.omega[0])*
250250
(wstab<=sys.omega[-1])]
251251
#print ('wstabf', wstab)
252-
252+
253253

254254
# margins, as iterables, converted frdata and xferfcn calculations to
255255
# vector for this
256256
GM=1/np.abs(sys.evalfr(w_180)[0][0])
257257
SM=np.abs(sys.evalfr(wstab)[0][0]+1)
258258
PM=np.angle(sys.evalfr(wc)[0][0],deg=True)+180
259-
259+
260260
ifreturnall:
261261
returnGM,PM,SM,w_180,wc,wstab
262262
else:
@@ -337,7 +337,7 @@ def margin(*args):
337337
Gain crossover frequency (corresponding to phase margin)
338338
Wcp : float
339339
Phase crossover frequency (corresponding to gain margin) (in rad/sec)
340-
340+
341341
Margins are of SISO open-loop. If more than one crossover frequency is
342342
detected, returns the lowest corresponding margin.
343343

‎control/tests/bdalg_test.py

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -40,7 +40,7 @@ def testScalarSS(self):
4040

4141
ans1=feedback(self.x1,self.sys2)
4242
ans2=feedback(self.x1,self.sys2,1.)
43-
43+
4444
np.testing.assert_array_almost_equal(ans1.A, [[-1.5,4.], [13.,2.]])
4545
np.testing.assert_array_almost_equal(ans1.B, [[2.5], [-10.]])
4646
np.testing.assert_array_almost_equal(ans1.C, [[-2.5,0.]])
@@ -77,7 +77,7 @@ def testScalarTF(self):
7777

7878
deftestSSScalar(self):
7979
"""State space system with scalar feedback block."""
80-
80+
8181
ans1=feedback(self.sys2,self.x1)
8282
ans2=feedback(self.sys2,self.x1,1.)
8383

@@ -98,7 +98,7 @@ def testSSSS1(self):
9898

9999
np.testing.assert_array_almost_equal(ans1.A, [[1.,4.,-1.,0.],
100100
[3.,2.,4.,0.], [1.,0.,1.,4.], [-4.,0.,3.,2]])
101-
np.testing.assert_array_almost_equal(ans1.B, [[1.], [-4.], [0.], [0.]])
101+
np.testing.assert_array_almost_equal(ans1.B, [[1.], [-4.], [0.], [0.]])
102102
np.testing.assert_array_almost_equal(ans1.C, [[1.,0.,0.,0.]])
103103
np.testing.assert_array_almost_equal(ans1.D, [[0.]])
104104
np.testing.assert_array_almost_equal(ans2.A, [[1.,4.,1.,0.],
@@ -115,7 +115,7 @@ def testSSSS2(self):
115115
[[-2.]])
116116
sys4=StateSpace([[-3.,-2.], [1.,4.]], [[-2.], [-6.]], [[2.,-3.]],
117117
[[3.]])
118-
118+
119119
ans1=feedback(sys3,sys4)
120120
ans2=feedback(sys3,sys4,1.)
121121

@@ -144,7 +144,7 @@ def testSSSS2(self):
144144

145145
deftestSSTF(self):
146146
"""State space system with transfer function feedback block."""
147-
147+
148148
# This functionality is not implemented yet.
149149
pass
150150

‎control/tests/freqresp_test.py

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -3,8 +3,8 @@
33
# freqresp_test.py - test frequency response functions
44
# RMM, 30 May 2016 (based on timeresp_test.py)
55
#
6-
# This is a rudimentary set of tests for frequency response functions,
7-
# including bode plots.
6+
# This is a rudimentary set of tests for frequency response functions,
7+
# including bode plots.
88

99
importunittest
1010
importnumpyasnp
@@ -53,7 +53,7 @@ def test_mimo(self):
5353

5454
#bode(sysMIMO) # - should throw not implemented exception
5555
#bode(tfMIMO) # - should throw not implemented exception
56-
56+
5757
#plt.figure(3)
5858
#plt.semilogx(self.omega,20*np.log10(np.squeeze(frq[0])))
5959

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