Movatterモバイル変換

[0]ホーム
URL:

Skip to content

Navigation Menu

Sign in
Appearance settings

Search code, repositories, users, issues, pull requests...

Provide feedback

We read every piece of feedback, and take your input very seriously.

Saved searches

Use saved searches to filter your results more quickly

 Sign up
Appearance settings

Commitefc42c8

Browse files
author
Andrew D. McGuire
committed
Fixing bug in timeresp.forced_response that caused scipy interp1d ValueError when applied to discrete sys with T=None.
1 parent129a053 commitefc42c8

File tree

2 files changed

+28
-8
lines changed

2 files changed

+28
-8
lines changed

‎control/tests/timeresp_test.py

Lines changed: 12 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -259,7 +259,7 @@ def test_forced_response(self):
259259
42.3227,44.9694,47.1599,48.9776]])
260260
_t,yout,_xout=forced_response(self.mimo_ss1,t,u,x0)
261261
np.testing.assert_array_almost_equal(yout,youttrue,decimal=4)
262-
262+
263263
# Test discrete MIMO system to use correct convention for input
264264
sysc=self.mimo_ss1
265265
dt=t[1]-t[0]
@@ -270,6 +270,17 @@ def test_forced_response(self):
270270
np.testing.assert_array_equal(youtc.shape,youtd.shape)
271271
np.testing.assert_array_almost_equal(youtc,youtd,decimal=4)
272272

273+
# Test discrete MIMO system without default T argument
274+
u=np.array([[0.,0,0,0,0,0,0,0,0,0],
275+
[1.,1,1,1,1,1,1,1,1,1]])
276+
x0=np.matrix(".5; 1; 0; 0")
277+
youttrue=np.array([[11.,8.1494,5.9361,4.2258,2.9118,1.9092,
278+
1.1508,0.5833,0.1645,-0.1391],
279+
[9.,17.6457,24.7072,30.4855,35.2234,39.1165,
280+
42.3227,44.9694,47.1599,48.9776]])
281+
_t,yout,_xout=forced_response(sysd,U=u,X0=x0)
282+
np.testing.assert_array_almost_equal(yout,youttrue,decimal=4)
283+
273284
deftest_lsim_double_integrator(self):
274285
# Note: scipy.signal.lsim fails if A is not invertible
275286
A=np.mat("0. 1.;0. 0.")

‎control/timeresp.py

Lines changed: 16 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -200,7 +200,7 @@ def forced_response(sys, T=None, U=0., X0=0., transpose=False,
200200
sys: LTI (StateSpace, or TransferFunction)
201201
LTI system to simulate
202202
203-
T: array-like
203+
T: array-like, optional for discrete LTI `sys`
204204
Time steps at which the input is defined; values must be evenly spaced.
205205
206206
U: array-like or number, optional
@@ -260,20 +260,29 @@ def forced_response(sys, T=None, U=0., X0=0., transpose=False,
260260
n_inputs=B.shape[1]
261261
n_outputs=C.shape[0]
262262

263+
# Convert inputs to numpy arrays for easier shape checking
264+
ifUisnotNone:
265+
U=np.asarray(U)
266+
ifTisnotNone:
267+
T=np.asarray(T)
268+
263269
# Set and/or check time vector in discrete time case
264270
ifisdtime(sys,strict=True):
265271
ifTisNone:
266272
ifUisNone:
267273
raiseValueError('Parameters ``T`` and ``U`` can\'t both be'
268274
'zero for discrete-time simulation')
269275
# Set T to equally spaced samples with same length as U
270-
T=np.array(range(len(U)))* (1ifsys.dtisTrueelsesys.dt)
276+
iflen(U.shape)==1:
277+
n_steps=U.shape[0]
278+
else:
279+
n_steps=U.shape[1]
280+
T=np.array(range(n_steps))* (1ifsys.dtisTrueelsesys.dt)
271281
else:
272282
# Make sure the input vector and time vector have same length
273-
# TODO: allow interpolation of the input vector
274-
iflen(U)!=len(T):
275-
ValueError('Pamameter ``T`` must have same length as'
276-
'input vector ``U``')
283+
if (len(U.shape)==1andU.shape[0]!=T.shape[0])or (len(U.shape)>1andU.shape[1]!=T.shape[0]):
284+
ValueError('Pamameter ``T`` must have same elements as'
285+
' the number of columns in input array ``U``')
277286

278287
# Test if T has shape (n,) or (1, n);
279288
# T must be array-like and values must be increasing.
@@ -288,7 +297,7 @@ def forced_response(sys, T=None, U=0., X0=0., transpose=False,
288297
ifnotnp.allclose(T[1:]-T[:-1],dt):
289298
raiseValueError("Parameter ``T``: time values must be "
290299
"equally spaced.")
291-
n_steps=len(T)# number of simulation steps
300+
n_steps=T.shape[0]# number of simulation steps
292301

293302
# create X0 if not given, test if X0 has correct shape
294303
X0=_check_convert_array(X0, [(n_states,), (n_states,1)],

0 commit comments

Comments
 (0)
[8]ページ先頭
©2009-2025 Movatter.jp