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Commiteb146a6

Browse files
authored
Merge pull request#515 from murrayrm/input_output_to_ninput_noutput
Switch LTI class and subclasses to use ninputs, noutputs, nstates
2 parents1502d38 +eb401a9 commiteb146a6

21 files changed

+457
-385
lines changed

‎control/bdalg.py

Lines changed: 8 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -76,7 +76,7 @@ def series(sys1, *sysn):
7676
Raises
7777
------
7878
ValueError
79-
if `sys2.inputs` does not equal `sys1.outputs`
79+
if `sys2.ninputs` does not equal `sys1.noutputs`
8080
if `sys1.dt` is not compatible with `sys2.dt`
8181
8282
See Also
@@ -336,25 +336,25 @@ def connect(sys, Q, inputv, outputv):
336336
"""
337337
inputv,outputv,Q=np.asarray(inputv),np.asarray(outputv),np.asarray(Q)
338338
# check indices
339-
index_errors= (inputv-1>sys.inputs)| (inputv<1)
339+
index_errors= (inputv-1>sys.ninputs)| (inputv<1)
340340
ifnp.any(index_errors):
341341
raiseIndexError(
342342
"inputv index %s out of bounds"%inputv[np.where(index_errors)])
343-
index_errors= (outputv-1>sys.outputs)| (outputv<1)
343+
index_errors= (outputv-1>sys.noutputs)| (outputv<1)
344344
ifnp.any(index_errors):
345345
raiseIndexError(
346346
"outputv index %s out of bounds"%outputv[np.where(index_errors)])
347-
index_errors= (Q[:,0:1]-1>sys.inputs)| (Q[:,0:1]<1)
347+
index_errors= (Q[:,0:1]-1>sys.ninputs)| (Q[:,0:1]<1)
348348
ifnp.any(index_errors):
349349
raiseIndexError(
350350
"Q input index %s out of bounds"%Q[np.where(index_errors)])
351-
index_errors= (np.abs(Q[:,1:])-1>sys.outputs)
351+
index_errors= (np.abs(Q[:,1:])-1>sys.noutputs)
352352
ifnp.any(index_errors):
353353
raiseIndexError(
354354
"Q output index %s out of bounds"%Q[np.where(index_errors)])
355355

356356
# first connect
357-
K=np.zeros((sys.inputs,sys.outputs))
357+
K=np.zeros((sys.ninputs,sys.noutputs))
358358
forrinnp.array(Q).astype(int):
359359
inp=r[0]-1
360360
foroutpinr[1:]:
@@ -365,8 +365,8 @@ def connect(sys, Q, inputv, outputv):
365365
sys=sys.feedback(np.array(K),sign=1)
366366

367367
# now trim
368-
Ytrim=np.zeros((len(outputv),sys.outputs))
369-
Utrim=np.zeros((sys.inputs,len(inputv)))
368+
Ytrim=np.zeros((len(outputv),sys.noutputs))
369+
Utrim=np.zeros((sys.ninputs,len(inputv)))
370370
fori,uinenumerate(inputv):
371371
Utrim[u-1,i]=1.
372372
fori,yinenumerate(outputv):

‎control/canonical.py

Lines changed: 7 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -79,24 +79,24 @@ def reachable_form(xsys):
7979
zsys.B[0,0]=1.0
8080
zsys.A=zeros_like(xsys.A)
8181
Apoly=poly(xsys.A)# characteristic polynomial
82-
foriinrange(0,xsys.states):
82+
foriinrange(0,xsys.nstates):
8383
zsys.A[0,i]=-Apoly[i+1]/Apoly[0]
84-
if (i+1<xsys.states):
84+
if (i+1<xsys.nstates):
8585
zsys.A[i+1,i]=1.0
8686

8787
# Compute the reachability matrices for each set of states
8888
Wrx=ctrb(xsys.A,xsys.B)
8989
Wrz=ctrb(zsys.A,zsys.B)
9090

91-
ifmatrix_rank(Wrx)!=xsys.states:
91+
ifmatrix_rank(Wrx)!=xsys.nstates:
9292
raiseValueError("System not controllable to working precision.")
9393

9494
# Transformation from one form to another
9595
Tzx=solve(Wrx.T,Wrz.T).T# matrix right division, Tzx = Wrz * inv(Wrx)
9696

9797
# Check to make sure inversion was OK. Note that since we are inverting
9898
# Wrx and we already checked its rank, this exception should never occur
99-
ifmatrix_rank(Tzx)!=xsys.states:# pragma: no cover
99+
ifmatrix_rank(Tzx)!=xsys.nstates:# pragma: no cover
100100
raiseValueError("Transformation matrix singular to working precision.")
101101

102102
# Finally, compute the output matrix
@@ -133,9 +133,9 @@ def observable_form(xsys):
133133
zsys.C[0,0]=1
134134
zsys.A=zeros_like(xsys.A)
135135
Apoly=poly(xsys.A)# characteristic polynomial
136-
foriinrange(0,xsys.states):
136+
foriinrange(0,xsys.nstates):
137137
zsys.A[i,0]=-Apoly[i+1]/Apoly[0]
138-
if (i+1<xsys.states):
138+
if (i+1<xsys.nstates):
139139
zsys.A[i,i+1]=1
140140

141141
# Compute the observability matrices for each set of states
@@ -145,7 +145,7 @@ def observable_form(xsys):
145145
# Transformation from one form to another
146146
Tzx=solve(Wrz,Wrx)# matrix left division, Tzx = inv(Wrz) * Wrx
147147

148-
ifmatrix_rank(Tzx)!=xsys.states:
148+
ifmatrix_rank(Tzx)!=xsys.nstates:
149149
raiseValueError("Transformation matrix singular to working precision.")
150150

151151
# Finally, compute the output matrix

‎control/frdata.py

Lines changed: 27 additions & 27 deletions
Original file line numberDiff line numberDiff line change
@@ -155,11 +155,11 @@ def __init__(self, *args, **kwargs):
155155
def__str__(self):
156156
"""String representation of the transfer function."""
157157

158-
mimo=self.inputs>1orself.outputs>1
158+
mimo=self.ninputs>1orself.noutputs>1
159159
outstr= ['Frequency response data']
160160

161-
foriinrange(self.inputs):
162-
forjinrange(self.outputs):
161+
foriinrange(self.ninputs):
162+
forjinrange(self.noutputs):
163163
ifmimo:
164164
outstr.append("Input %i to output %i:"% (i+1,j+1))
165165
outstr.append('Freq [rad/s] Response')
@@ -201,12 +201,12 @@ def __add__(self, other):
201201
other=_convert_to_FRD(other,omega=self.omega)
202202

203203
# Check that the input-output sizes are consistent.
204-
ifself.inputs!=other.inputs:
204+
ifself.ninputs!=other.ninputs:
205205
raiseValueError("The first summand has %i input(s), but the\
206-
second has %i."% (self.inputs,other.inputs))
207-
ifself.outputs!=other.outputs:
206+
second has %i."% (self.ninputs,other.ninputs))
207+
ifself.noutputs!=other.noutputs:
208208
raiseValueError("The first summand has %i output(s), but the\
209-
second has %i."% (self.outputs,other.outputs))
209+
second has %i."% (self.noutputs,other.noutputs))
210210

211211
returnFRD(self.fresp+other.fresp,other.omega)
212212

@@ -236,14 +236,14 @@ def __mul__(self, other):
236236
other=_convert_to_FRD(other,omega=self.omega)
237237

238238
# Check that the input-output sizes are consistent.
239-
ifself.inputs!=other.outputs:
239+
ifself.ninputs!=other.noutputs:
240240
raiseValueError(
241241
"H = G1*G2: input-output size mismatch: "
242242
"G1 has %i input(s), G2 has %i output(s)."%
243-
(self.inputs,other.outputs))
243+
(self.ninputs,other.noutputs))
244244

245-
inputs=other.inputs
246-
outputs=self.outputs
245+
inputs=other.ninputs
246+
outputs=self.noutputs
247247
fresp=empty((outputs,inputs,len(self.omega)),
248248
dtype=self.fresp.dtype)
249249
foriinrange(len(self.omega)):
@@ -263,14 +263,14 @@ def __rmul__(self, other):
263263
other=_convert_to_FRD(other,omega=self.omega)
264264

265265
# Check that the input-output sizes are consistent.
266-
ifself.outputs!=other.inputs:
266+
ifself.noutputs!=other.ninputs:
267267
raiseValueError(
268268
"H = G1*G2: input-output size mismatch: "
269269
"G1 has %i input(s), G2 has %i output(s)."%
270-
(other.inputs,self.outputs))
270+
(other.ninputs,self.noutputs))
271271

272-
inputs=self.inputs
273-
outputs=other.outputs
272+
inputs=self.ninputs
273+
outputs=other.noutputs
274274

275275
fresp=empty((outputs,inputs,len(self.omega)),
276276
dtype=self.fresp.dtype)
@@ -290,8 +290,8 @@ def __truediv__(self, other):
290290
else:
291291
other=_convert_to_FRD(other,omega=self.omega)
292292

293-
if (self.inputs>1orself.outputs>1or
294-
other.inputs>1orother.outputs>1):
293+
if (self.ninputs>1orself.noutputs>1or
294+
other.ninputs>1orother.noutputs>1):
295295
raiseNotImplementedError(
296296
"FRD.__truediv__ is currently only implemented for SISO "
297297
"systems.")
@@ -313,8 +313,8 @@ def __rtruediv__(self, other):
313313
else:
314314
other=_convert_to_FRD(other,omega=self.omega)
315315

316-
if (self.inputs>1orself.outputs>1or
317-
other.inputs>1orother.outputs>1):
316+
if (self.ninputs>1orself.noutputs>1or
317+
other.ninputs>1orother.noutputs>1):
318318
raiseNotImplementedError(
319319
"FRD.__rtruediv__ is currently only implemented for "
320320
"SISO systems.")
@@ -392,10 +392,10 @@ def eval(self, omega, squeeze=None):
392392
else:
393393
out=self.fresp[:, :,elements]
394394
else:
395-
out=empty((self.outputs,self.inputs,len(omega_array)),
395+
out=empty((self.noutputs,self.ninputs,len(omega_array)),
396396
dtype=complex)
397-
foriinrange(self.outputs):
398-
forjinrange(self.inputs):
397+
foriinrange(self.noutputs):
398+
forjinrange(self.ninputs):
399399
fork,winenumerate(omega_array):
400400
frraw=splev(w,self.ifunc[i,j],der=0)
401401
out[i,j,k]=frraw[0]+1.0j*frraw[1]
@@ -406,7 +406,7 @@ def __call__(self, s, squeeze=None):
406406
"""Evaluate system's transfer function at complex frequencies.
407407
408408
Returns the complex frequency response `sys(s)` of system `sys` with
409-
`m = sys.inputs` number of inputs and `p = sys.outputs` number of
409+
`m = sys.ninputs` number of inputs and `p = sys.noutputs` number of
410410
outputs.
411411
412412
To evaluate at a frequency omega in radians per second, enter
@@ -474,10 +474,10 @@ def feedback(self, other=1, sign=-1):
474474

475475
other=_convert_to_FRD(other,omega=self.omega)
476476

477-
if (self.outputs!=other.inputsorself.inputs!=other.outputs):
477+
if (self.noutputs!=other.ninputsorself.ninputs!=other.noutputs):
478478
raiseValueError(
479479
"FRD.feedback, inputs/outputs mismatch")
480-
fresp=empty((self.outputs,self.inputs,len(other.omega)),
480+
fresp=empty((self.noutputs,self.ninputs,len(other.omega)),
481481
dtype=complex)
482482
# TODO: vectorize this
483483
# TODO: handle omega re-mapping
@@ -487,9 +487,9 @@ def feedback(self, other=1, sign=-1):
487487
fresp[:, :,k]=np.dot(
488488
self.fresp[:, :,k],
489489
linalg.solve(
490-
eye(self.inputs)
490+
eye(self.ninputs)
491491
+np.dot(other.fresp[:, :,k],self.fresp[:, :,k]),
492-
eye(self.inputs))
492+
eye(self.ninputs))
493493
)
494494

495495
returnFRD(fresp,other.omega,smooth=(self.ifuncisnotNone))

‎control/freqplot.py

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -214,7 +214,7 @@ def bode_plot(syslist, omega=None,
214214

215215
mags,phases,omegas,nyquistfrqs= [], [], [], []
216216
forsysinsyslist:
217-
ifsys.inputs>1orsys.outputs>1:
217+
ifsys.ninputs>1orsys.noutputs>1:
218218
# TODO: Add MIMO bode plots.
219219
raiseNotImplementedError(
220220
"Bode is currently only implemented for SISO systems.")
@@ -582,7 +582,7 @@ def nyquist_plot(syslist, omega=None, plot=True, label_freq=0,
582582
num=50,endpoint=True,base=10.0)
583583

584584
forsysinsyslist:
585-
ifsys.inputs>1orsys.outputs>1:
585+
ifsys.ninputs>1orsys.noutputs>1:
586586
# TODO: Add MIMO nyquist plots.
587587
raiseNotImplementedError(
588588
"Nyquist is currently only implemented for SISO systems.")
@@ -672,7 +672,7 @@ def gangof4_plot(P, C, omega=None, **kwargs):
672672
-------
673673
None
674674
"""
675-
ifP.inputs>1orP.outputs>1orC.inputs>1orC.outputs>1:
675+
ifP.ninputs>1orP.noutputs>1orC.ninputs>1orC.noutputs>1:
676676
# TODO: Add MIMO go4 plots.
677677
raiseNotImplementedError(
678678
"Gang of four is currently only implemented for SISO systems.")

‎control/iosys.py

Lines changed: 11 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -659,25 +659,25 @@ def __init__(self, linsys, inputs=None, outputs=None, states=None,
659659

660660
# Create the I/O system object
661661
super(LinearIOSystem,self).__init__(
662-
inputs=linsys.inputs,outputs=linsys.outputs,
663-
states=linsys.states,params={},dt=linsys.dt,name=name)
662+
inputs=linsys.ninputs,outputs=linsys.noutputs,
663+
states=linsys.nstates,params={},dt=linsys.dt,name=name)
664664

665665
# Initalize additional state space variables
666666
StateSpace.__init__(self,linsys,remove_useless=False)
667667

668668
# Process input, output, state lists, if given
669669
# Make sure they match the size of the linear system
670670
ninputs,self.input_index=self._process_signal_list(
671-
inputsifinputsisnotNoneelselinsys.inputs,prefix='u')
672-
ifninputsisnotNoneandlinsys.inputs!=ninputs:
671+
inputsifinputsisnotNoneelselinsys.ninputs,prefix='u')
672+
ifninputsisnotNoneandlinsys.ninputs!=ninputs:
673673
raiseValueError("Wrong number/type of inputs given.")
674674
noutputs,self.output_index=self._process_signal_list(
675-
outputsifoutputsisnotNoneelselinsys.outputs,prefix='y')
676-
ifnoutputsisnotNoneandlinsys.outputs!=noutputs:
675+
outputsifoutputsisnotNoneelselinsys.noutputs,prefix='y')
676+
ifnoutputsisnotNoneandlinsys.noutputs!=noutputs:
677677
raiseValueError("Wrong number/type of outputs given.")
678678
nstates,self.state_index=self._process_signal_list(
679-
statesifstatesisnotNoneelselinsys.states,prefix='x')
680-
ifnstatesisnotNoneandlinsys.states!=nstates:
679+
statesifstatesisnotNoneelselinsys.nstates,prefix='x')
680+
ifnstatesisnotNoneandlinsys.nstates!=nstates:
681681
raiseValueError("Wrong number/type of states given.")
682682

683683
def_update_params(self,params={},warning=True):
@@ -1345,9 +1345,9 @@ def __init__(self, io_sys, ss_sys=None):
13451345
# Initialize the state space attributes
13461346
ifisinstance(ss_sys,StateSpace):
13471347
# Make sure the dimension match
1348-
ifio_sys.ninputs!=ss_sys.inputsor \
1349-
io_sys.noutputs!=ss_sys.outputsor \
1350-
io_sys.nstates!=ss_sys.states:
1348+
ifio_sys.ninputs!=ss_sys.ninputsor \
1349+
io_sys.noutputs!=ss_sys.noutputsor \
1350+
io_sys.nstates!=ss_sys.nstates:
13511351
raiseValueError("System dimensions for first and second "
13521352
"arguments must match.")
13531353
StateSpace.__init__(self,ss_sys,remove_useless=False)

‎control/lti.py

Lines changed: 42 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -47,10 +47,46 @@ def __init__(self, inputs=1, outputs=1, dt=None):
4747
"""Assign the LTI object's numbers of inputs and ouputs."""
4848

4949
# Data members common to StateSpace and TransferFunction.
50-
self.inputs=inputs
51-
self.outputs=outputs
50+
self.ninputs=inputs
51+
self.noutputs=outputs
5252
self.dt=dt
5353

54+
#
55+
# Getter and setter functions for legacy state attributes
56+
#
57+
# For this iteration, generate a deprecation warning whenever the
58+
# getter/setter is called. For a future iteration, turn it into a
59+
# future warning, so that users will see it.
60+
#
61+
62+
@property
63+
definputs(self):
64+
warn("The LTI `inputs` attribute will be deprecated in a future "
65+
"release. Use `ninputs` instead.",
66+
DeprecationWarning,stacklevel=2)
67+
returnself.ninputs
68+
69+
@inputs.setter
70+
definputs(self,value):
71+
warn("The LTI `inputs` attribute will be deprecated in a future "
72+
"release. Use `ninputs` instead.",
73+
DeprecationWarning,stacklevel=2)
74+
self.ninputs=value
75+
76+
@property
77+
defoutputs(self):
78+
warn("The LTI `outputs` attribute will be deprecated in a future "
79+
"release. Use `noutputs` instead.",
80+
DeprecationWarning,stacklevel=2)
81+
returnself.noutputs
82+
83+
@outputs.setter
84+
defoutputs(self,value):
85+
warn("The LTI `outputs` attribute will be deprecated in a future "
86+
"release. Use `noutputs` instead.",
87+
DeprecationWarning,stacklevel=2)
88+
self.noutputs=value
89+
5490
defisdtime(self,strict=False):
5591
"""
5692
Check to see if a system is a discrete-time system
@@ -88,7 +124,7 @@ def isctime(self, strict=False):
88124

89125
defissiso(self):
90126
'''Check to see if a system is single input, single output'''
91-
returnself.inputs==1andself.outputs==1
127+
returnself.ninputs==1andself.noutputs==1
92128

93129
defdamp(self):
94130
'''Natural frequency, damping ratio of system poles
@@ -126,7 +162,7 @@ def frequency_response(self, omega, squeeze=None):
126162
G(exp(j*omega*dt)) = mag*exp(j*phase).
127163
128164
In general the system may be multiple input, multiple output (MIMO),
129-
where `m = self.inputs` number of inputs and `p = self.outputs` number
165+
where `m = self.ninputs` number of inputs and `p = self.noutputs` number
130166
of outputs.
131167
132168
Parameters
@@ -475,7 +511,7 @@ def evalfr(sys, x, squeeze=None):
475511
476512
Returns the complex frequency response `sys(x)` where `x` is `s` for
477513
continuous-time systems and `z` for discrete-time systems, with
478-
`m = sys.inputs` number of inputs and `p = sys.outputs` number of
514+
`m = sys.ninputs` number of inputs and `p = sys.noutputs` number of
479515
outputs.
480516
481517
To evaluate at a frequency omega in radians per second, enter
@@ -532,7 +568,7 @@ def freqresp(sys, omega, squeeze=None):
532568
"""Frequency response of an LTI system at multiple angular frequencies.
533569
534570
In general the system may be multiple input, multiple output (MIMO), where
535-
`m = sys.inputs` number of inputs and `p = sys.outputs` number of
571+
`m = sys.ninputs` number of inputs and `p = sys.noutputs` number of
536572
outputs.
537573
538574
Parameters

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