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Commitff960c3

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enhance step_info to MIMO
1 parentb41574f commitff960c3

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‎control/timeresp.py

Lines changed: 100 additions & 88 deletions
Original file line numberDiff line numberDiff line change
@@ -746,36 +746,43 @@ def step_info(sys, T=None, T_num=None, SettlingTimeThreshold=0.02,
746746
747747
Parameters
748748
----------
749-
sys : SISO dynamic system model. Dynamic systems that you can use include:
750-
StateSpace or TransferFunction
751-
LTI system to simulate
752-
749+
sys : LTI system
753750
T : array_like or float, optional
754751
Time vector, or simulation time duration if a number (time vector is
755752
autocomputed if not given, see :func:`step_response` for more detail)
756-
757753
T_num : int, optional
758754
Number of time steps to use in simulation if T is not provided as an
759755
array (autocomputed if not given); ignored if sys is discrete-time.
760-
761756
SettlingTimeThreshold : float value, optional
762757
Defines the error to compute settling time (default = 0.02)
763-
764758
RiseTimeLimits : tuple (lower_threshold, upper_theshold)
765759
Defines the lower and upper threshold for RiseTime computation
766760
767761
Returns
768762
-------
769-
S: a dictionary containing:
770-
RiseTime: Time from 10% to 90% of the steady-state value.
771-
SettlingTime: Time to enter inside a default error of 2%
772-
SettlingMin: Minimum value after RiseTime
773-
SettlingMax: Maximum value after RiseTime
774-
Overshoot: Percentage of the Peak relative to steady value
775-
Undershoot: Percentage of undershoot
776-
Peak: Absolute peak value
777-
PeakTime: time of the Peak
778-
SteadyStateValue: Steady-state value
763+
S : dict or list of list of dict
764+
If `sys` is a SISO system, S is a dictionary containing:
765+
766+
RiseTime:
767+
Time from 10% to 90% of the steady-state value.
768+
SettlingTime:
769+
Time to enter inside a default error of 2%
770+
SettlingMin:
771+
Minimum value after RiseTime
772+
SettlingMax:
773+
Maximum value after RiseTime
774+
Overshoot:
775+
Percentage of the Peak relative to steady value
776+
Undershoot:
777+
Percentage of undershoot
778+
Peak:
779+
Absolute peak value
780+
PeakTime:
781+
time of the Peak
782+
SteadyStateValue:
783+
Steady-state value
784+
785+
If `sys` is a MIMO system, S is a 2D-List of dicts.
779786
780787
781788
See Also
@@ -786,81 +793,86 @@ def step_info(sys, T=None, T_num=None, SettlingTimeThreshold=0.02,
786793
--------
787794
>>> info = step_info(sys, T)
788795
'''
789-
790-
ifnotsys.issiso():
791-
sys=_mimo2siso(sys,0,0)
792-
warnings.warn(" Internal conversion from a MIMO system to a SISO system,"
793-
" the first input and the first output were used (u1 -> y1);"
794-
" it may not be the result you are looking for")
796+
795797

796798
ifTisNoneornp.asarray(T).size==1:
797799
T=_default_time_vector(sys,N=T_num,tfinal=T,is_step=True)
798800

799-
T,yout=step_response(sys,T)
800-
801-
# Steady state value
802-
InfValue=sys.dcgain().real
803-
804-
# TODO: this could be a function step_info4data(t,y,yfinal)
805-
rise_time:float=np.NaN
806-
settling_time:float=np.NaN
807-
settling_min:float=np.NaN
808-
settling_max:float=np.NaN
809-
peak_value:float=np.Inf
810-
peak_time:float=np.Inf
811-
undershoot:float=np.NaN
812-
overshoot:float=np.NaN
813-
steady_state_value:float=np.NaN
814-
815-
ifnotnp.isnan(InfValue)andnotnp.isinf(InfValue):
816-
# SteadyStateValue
817-
steady_state_value=InfValue
818-
# Peak
819-
peak_index=np.abs(yout).argmax()
820-
peak_value=np.abs(yout[peak_index])
821-
peak_time=T[peak_index]
822-
823-
sup_margin= (1.+SettlingTimeThreshold)*InfValue
824-
inf_margin= (1.-SettlingTimeThreshold)*InfValue
825-
826-
# RiseTime
827-
tr_lower_index= (np.where(np.sign(InfValue.real)* (yout-RiseTimeLimits[0]*InfValue)>=0 )[0])[0]
828-
tr_upper_index= (np.where(np.sign(InfValue.real)*yout>=np.sign(InfValue.real)*RiseTimeLimits[1]*InfValue)[0])[0]
829-
830-
# SettlingTime
831-
settling_time=T[np.where(np.abs(yout-InfValue)>=np.abs(SettlingTimeThreshold*InfValue))[0][-1]+1]
832-
# Overshoot and Undershoot
833-
y_os= (np.sign(InfValue.real)*yout).max()
834-
dy_os=np.abs(y_os)-np.abs(InfValue)
835-
ifdy_os>0:
836-
overshoot=np.abs(100.*dy_os/InfValue)
837-
else:
838-
overshoot=0
839-
840-
y_us= (np.sign(InfValue.real)*yout).min()
841-
dy_us=np.abs(y_us)
842-
ifdy_us>0:
843-
undershoot=np.abs(100.*dy_us/InfValue)
844-
else:
845-
undershoot=0
846-
847-
# RiseTime
848-
rise_time=T[tr_upper_index]-T[tr_lower_index]
849-
850-
settling_max= (yout[tr_upper_index:]).max()
851-
settling_min= (yout[tr_upper_index:]).min()
852-
853-
return {
854-
'RiseTime':rise_time,
855-
'SettlingTime':settling_time,
856-
'SettlingMin':settling_min,
857-
'SettlingMax':settling_max,
858-
'Overshoot':overshoot,
859-
'Undershoot':undershoot,
860-
'Peak':peak_value,
861-
'PeakTime':peak_time,
862-
'SteadyStateValue':steady_state_value
863-
}
801+
ret= [[None]*sys.ninputs]*sys.noutputs
802+
foriinrange(sys.noutputs):
803+
forjinrange(sys.ninputs):
804+
sys_siso=sys[i,j]
805+
T,yout=step_response(sys_siso,T)
806+
807+
# Steady state value
808+
InfValue=sys_siso.dcgain()
809+
sgnInf=np.sign(InfValue.real)
810+
811+
rise_time:float=np.NaN
812+
settling_time:float=np.NaN
813+
settling_min:float=np.NaN
814+
settling_max:float=np.NaN
815+
peak_value:float=np.Inf
816+
peak_time:float=np.Inf
817+
undershoot:float=np.NaN
818+
overshoot:float=np.NaN
819+
steady_state_value:complex=np.NaN
820+
821+
ifnotnp.isnan(InfValue)andnotnp.isinf(InfValue):
822+
# RiseTime
823+
tr_lower_index=np.where(
824+
sgnInf* (yout-RiseTimeLimits[0]*InfValue)>=0
825+
)[0][0]
826+
tr_upper_index=np.where(
827+
sgnInf* (yout-RiseTimeLimits[1]*InfValue)>=0
828+
)[0][0]
829+
rise_time=T[tr_upper_index]-T[tr_lower_index]
830+
831+
# SettlingTime
832+
settling_th=np.abs(SettlingTimeThreshold*InfValue)
833+
not_settled=np.where(np.abs(yout-InfValue)>=settling_th)
834+
settling_time=T[not_settled[0][-1]+1]
835+
836+
settling_min= (yout[tr_upper_index:]).min()
837+
settling_max= (yout[tr_upper_index:]).max()
838+
839+
# Overshoot
840+
y_os= (sgnInf*yout).max()
841+
dy_os=np.abs(y_os)-np.abs(InfValue)
842+
ifdy_os>0:
843+
overshoot=np.abs(100.*dy_os/InfValue)
844+
else:
845+
overshoot=0
846+
847+
# Undershoot
848+
y_us= (sgnInf*yout).min()
849+
dy_us=np.abs(y_us)
850+
ifdy_us>0:
851+
undershoot=np.abs(100.*dy_us/InfValue)
852+
else:
853+
undershoot=0
854+
855+
# Peak
856+
peak_index=np.abs(yout).argmax()
857+
peak_value=np.abs(yout[peak_index])
858+
peak_time=T[peak_index]
859+
860+
# SteadyStateValue
861+
steady_state_value=InfValue
862+
863+
ret[i][j]= {
864+
'RiseTime':rise_time,
865+
'SettlingTime':settling_time,
866+
'SettlingMin':settling_min,
867+
'SettlingMax':settling_max,
868+
'Overshoot':overshoot,
869+
'Undershoot':undershoot,
870+
'Peak':peak_value,
871+
'PeakTime':peak_time,
872+
'SteadyStateValue':steady_state_value
873+
}
874+
875+
returnret[0][0]ifsys.issiso()elseret
864876

865877
definitial_response(sys,T=None,X0=0.,input=0,output=None,T_num=None,
866878
transpose=False,return_x=False,squeeze=None):

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