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

fix error when an IOSystem is combined with a TransferFunction system#793

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to ourterms of service andprivacy statement. We’ll occasionally send you account related emails.

Already on GitHub?Sign in to your account

Merged
Merged
Show file tree
Hide file tree
Changes fromall commits
Commits
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
12 changes: 6 additions & 6 deletionscontrol/iosys.py
View file
Open in desktop
Original file line numberDiff line numberDiff line change
Expand Up@@ -890,7 +890,7 @@ def __init__(self, syslist, connections=None, inplist=None, outlist=None,
kwargs, defaults, end=True)

# Initialize the system list and index
self.syslist = syslist
self.syslist =list(syslist) # insure modifications can be made
self.syslist_index = {}

# Initialize the input, output, and state counts, indices
Expand All@@ -903,12 +903,12 @@ def __init__(self, syslist, connections=None, inplist=None, outlist=None,
sysname_count_dct = {}

# Go through the system list and keep track of counts, offsets
for sysidx, sys in enumerate(syslist):
for sysidx, sys in enumerate(self.syslist):
# If we were passed a SS or TF system, convert to LinearIOSystem
if isinstance(sys, (StateSpace, TransferFunction)) and \
not isinstance(sys, LinearIOSystem):
sys = LinearIOSystem(sys)
syslist[sysidx] = sys
sys = LinearIOSystem(sys, name=sys.name)
self.syslist[sysidx] = sys

# Make sure time bases are consistent
dt = common_timebase(dt, sys.dt)
Expand DownExpand Up@@ -2850,12 +2850,12 @@ def interconnect(syslist, connections=None, inplist=None, outlist=None,
inputs=inputs, outputs=outputs, states=states,
params=params, dt=dt, name=name, warn_duplicate=warn_duplicate)

# check forimplicity dropped signals
# check forimplicitly dropped signals
if check_unused:
newsys.check_unused_signals(ignore_inputs, ignore_outputs)

# If all subsystems are linear systems, maintain linear structure
if all([isinstance(sys, LinearIOSystem) for sys in syslist]):
if all([isinstance(sys, LinearIOSystem) for sys innewsys.syslist]):
return LinearICSystem(newsys, None)

return newsys
Expand Down
22 changes: 22 additions & 0 deletionscontrol/tests/interconnect_test.py
View file
Open in desktop
Original file line numberDiff line numberDiff line change
Expand Up@@ -230,3 +230,25 @@ def test_string_inputoutput():

P_s2 = ct.interconnect([P1_iosys, P2_iosys], inputs=['u1'], output='y2')
assert P_s2.output_index == {'y2' : 0}

def test_linear_interconnect():
tf_ctrl = ct.tf(1, (10.1, 1), inputs='e', outputs='u')
tf_plant = ct.tf(1, (10.1, 1), inputs='u', outputs='y')
ss_ctrl = ct.ss(1, 2, 1, 2, inputs='e', outputs='u')
ss_plant = ct.ss(1, 2, 1, 2, inputs='u', outputs='y')
nl_ctrl = ct.NonlinearIOSystem(
lambda t, x, u, params: x*x,
lambda t, x, u, params: u*x, states=1, inputs='e', outputs='u')
nl_plant = ct.NonlinearIOSystem(
lambda t, x, u, params: x*x,
lambda t, x, u, params: u*x, states=1, inputs='u', outputs='y')

assert isinstance(ct.interconnect((tf_ctrl, tf_plant), inputs='e', outputs='y'), ct.LinearIOSystem)
assert isinstance(ct.interconnect((ss_ctrl, ss_plant), inputs='e', outputs='y'), ct.LinearIOSystem)
assert isinstance(ct.interconnect((tf_ctrl, ss_plant), inputs='e', outputs='y'), ct.LinearIOSystem)
assert isinstance(ct.interconnect((ss_ctrl, tf_plant), inputs='e', outputs='y'), ct.LinearIOSystem)

assert ~isinstance(ct.interconnect((nl_ctrl, ss_plant), inputs='e', outputs='y'), ct.LinearIOSystem)
assert ~isinstance(ct.interconnect((nl_ctrl, tf_plant), inputs='e', outputs='y'), ct.LinearIOSystem)
assert ~isinstance(ct.interconnect((ss_ctrl, nl_plant), inputs='e', outputs='y'), ct.LinearIOSystem)
assert ~isinstance(ct.interconnect((tf_ctrl, nl_plant), inputs='e', outputs='y'), ct.LinearIOSystem)
17 changes: 17 additions & 0 deletionscontrol/tests/iosys_test.py
View file
Open in desktop
Original file line numberDiff line numberDiff line change
Expand Up@@ -1454,6 +1454,11 @@ def test_linear_interconnection():
inputs = ('u[0]', 'u[1]'),
outputs = ('y[0]', 'y[1]'),
name = 'sys2')
tf_siso = ct.tf(1, [0.1, 1])
ss_siso = ct.ss(1, 2, 1, 1)
nl_siso = ios.NonlinearIOSystem(
lambda t, x, u, params: x*x,
lambda t, x, u, params: u*x, states=1, inputs=1, outputs=1)

# Create a "regular" InterconnectedSystem
nl_connect = ios.interconnect(
Expand DownExpand Up@@ -1500,6 +1505,18 @@ def test_linear_interconnection():
np.testing.assert_array_almost_equal(io_connect.C, ss_connect.C)
np.testing.assert_array_almost_equal(io_connect.D, ss_connect.D)

# make sure interconnections of linear systems are linear and
# if a nonlinear system is included then system is nonlinear
assert isinstance(ss_siso*ss_siso, ios.LinearIOSystem)
assert isinstance(tf_siso*ss_siso, ios.LinearIOSystem)
assert isinstance(ss_siso*tf_siso, ios.LinearIOSystem)
assert ~isinstance(ss_siso*nl_siso, ios.LinearIOSystem)
assert ~isinstance(nl_siso*ss_siso, ios.LinearIOSystem)
assert ~isinstance(nl_siso*nl_siso, ios.LinearIOSystem)
assert ~isinstance(tf_siso*nl_siso, ios.LinearIOSystem)
assert ~isinstance(nl_siso*tf_siso, ios.LinearIOSystem)
assert ~isinstance(nl_siso*nl_siso, ios.LinearIOSystem)


def predprey(t, x, u, params={}):
"""Predator prey dynamics"""
Expand Down
[8]ページ先頭
©2009-2025 Movatter.jp