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Merged
murrayrm merged 6 commits intopython-control:mainfromsawyerbfuller:update-docs
Dec 17, 2022
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6 changes: 3 additions & 3 deletionscontrol/dtime.py
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Expand Up@@ -90,11 +90,11 @@ def sample_system(sysc, Ts, method='zoh', alpha=None, prewarp_frequency=None,
sysd : linsys
Discrete time system, with sampling rate Ts

Additional Parameters
---------------------
Other Parameters
----------------
inputs : int, list of str or None, optional
Description of the system inputs. If not specified, the origional
system inputs are used. See :class:`NamedIOSystem` for more
system inputs are used. See :class:`InputOutputSystem` for more
information.
outputs : int, list of str or None, optional
Description of the system outputs. Same format as `inputs`.
Expand Down
18 changes: 10 additions & 8 deletionscontrol/iosys.py
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Expand Up@@ -2210,17 +2210,16 @@ def linearize(sys, xeq, ueq=None, t=0, params=None, **kw):
The linearization of the system, as a :class:`~control.LinearIOSystem`
object (which is also a :class:`~control.StateSpace` object.

Additional Parameters
---------------------
Other Parameters
----------------
inputs : int, list of str or None, optional
Description of the system inputs. If not specified, the origional
system inputs are used. See :class:`NamedIOSystem` for more
system inputs are used. See :class:`InputOutputSystem` for more
information.
outputs : int, list of str or None, optional
Description of the system outputs. Same format as `inputs`.
states : int, list of str, or None, optional
Description of the system states. Same format as `inputs`.

"""
if not isinstance(sys, InputOutputSystem):
raise TypeError("Can only linearize InputOutputSystem types")
Expand DownExpand Up@@ -2429,7 +2428,10 @@ def rss(states=1, outputs=1, inputs=1, strictly_proper=False, **kwargs):


def drss(*args, **kwargs):
"""Create a stable, discrete-time, random state space system
"""
drss([states, outputs, inputs, strictly_proper])

Create a stable, discrete-time, random state space system

Create a stable *discrete time* random state space object. This
function calls :func:`rss` using either the `dt` keyword provided by
Expand DownExpand Up@@ -2467,7 +2469,7 @@ def ss2io(*args, **kwargs):

# Convert a transfer function into an input/output system (wrapper)
def tf2io(*args, **kwargs):
"""tf2io(sys)
"""tf2io(sys[, ...])

Convert a transfer function into an I/O system

Expand DownExpand Up@@ -2716,8 +2718,8 @@ def interconnect(syslist, connections=None, inplist=None, outlist=None,
:func:`~control.summing_block` function and the ability to automatically
interconnect signals with the same names:

>>> P = control.tf2io(control.tf(1, [1, 0]), inputs='u', outputs='y')
>>> C = control.tf2io(control.tf(10, [1, 1]), inputs='e', outputs='u')
>>> P = control.tf(1, [1, 0], inputs='u', outputs='y')
>>> C = control.tf(10, [1, 1], inputs='e', outputs='u')
>>> sumblk = control.summing_junction(inputs=['r', '-y'], output='e')
>>> T = control.interconnect([P, C, sumblk], inputs='r', outputs='y')

Expand Down
17 changes: 12 additions & 5 deletionscontrol/mateqn.py
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Expand Up@@ -88,7 +88,9 @@ def sb03md(n, C, A, U, dico, job='X', fact='N', trana='N', ldwork=None):


def lyap(A, Q, C=None, E=None, method=None):
"""X = lyap(A, Q) solves the continuous-time Lyapunov equation
"""Solves the continuous-time Lyapunov equation

X = lyap(A, Q) solves

:math:`A X + X A^T + Q = 0`

Expand DownExpand Up@@ -217,7 +219,9 @@ def lyap(A, Q, C=None, E=None, method=None):


def dlyap(A, Q, C=None, E=None, method=None):
"""dlyap(A, Q) solves the discrete-time Lyapunov equation
"""Solves the discrete-time Lyapunov equation

X = dlyap(A, Q) solves

:math:`A X A^T - X + Q = 0`

Expand DownExpand Up@@ -348,8 +352,9 @@ def dlyap(A, Q, C=None, E=None, method=None):

def care(A, B, Q, R=None, S=None, E=None, stabilizing=True, method=None,
A_s="A", B_s="B", Q_s="Q", R_s="R", S_s="S", E_s="E"):
"""X, L, G = care(A, B, Q, R=None) solves the continuous-time
algebraic Riccati equation
"""Solves the continuous-time algebraic Riccati equation

X, L, G = care(A, B, Q, R=None) solves

:math:`A^T X + X A - X B R^{-1} B^T X + Q = 0`

Expand DownExpand Up@@ -505,9 +510,11 @@ def care(A, B, Q, R=None, S=None, E=None, stabilizing=True, method=None,

def dare(A, B, Q, R, S=None, E=None, stabilizing=True, method=None,
A_s="A", B_s="B", Q_s="Q", R_s="R", S_s="S", E_s="E"):
"""X, L, G = dare(A, B, Q, R) solves the discrete-time algebraic Riccati
"""Solves the discrete-time algebraic Riccati
equation

X, L, G = dare(A, B, Q, R) solves

:math:`A^T X A - X - A^T X B (B^T X B + R)^{-1} B^T X A + Q = 0`

where A and Q are square matrices of the same dimension. Further, Q
Expand Down
1 change: 1 addition & 0 deletionscontrol/matlab/__init__.py
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Expand Up@@ -84,6 +84,7 @@
from ..rlocus import rlocus
from ..dtime import c2d
from ..sisotool import sisotool
from ..stochsys import lqe, dlqe

# Functions that are renamed in MATLAB
pole, zero = poles, zeros
Expand Down
38 changes: 5 additions & 33 deletionscontrol/matlab/timeresp.py
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Expand Up@@ -7,8 +7,7 @@
__all__ = ['step', 'stepinfo', 'impulse', 'initial', 'lsim']

def step(sys, T=None, X0=0., input=0, output=None, return_x=False):
'''
Step response of a linear system
'''Step response of a linear system

If the system has multiple inputs or outputs (MIMO), one input has
to be selected for the simulation. Optionally, one output may be
Expand All@@ -20,35 +19,27 @@ def step(sys, T=None, X0=0., input=0, output=None, return_x=False):
----------
sys: StateSpace, or TransferFunction
LTI system to simulate

T: array-like or number, optional
Time vector, or simulation time duration if a number (time vector is
autocomputed if not given)

X0: array-like or number, optional
Initial condition (default = 0)

Numbers are converted to constant arrays with the correct shape.

input: int
Index of the input that will be used in this simulation.

output: int
If given, index of the output that is returned by this simulation.

Returns
-------
yout: array
Response of the system

T: array
Time values of the output

xout: array (if selected)
Individual response of each x variable



See Also
--------
lsim, initial, impulse
Expand All@@ -67,8 +58,7 @@ def step(sys, T=None, X0=0., input=0, output=None, return_x=False):

def stepinfo(sysdata, T=None, yfinal=None, SettlingTimeThreshold=0.02,
RiseTimeLimits=(0.1, 0.9)):
"""
Step response characteristics (Rise time, Settling Time, Peak and others).
"""Step response characteristics (Rise time, Settling Time, Peak and others)

Parameters
----------
Expand DownExpand Up@@ -137,8 +127,7 @@ def stepinfo(sysdata, T=None, yfinal=None, SettlingTimeThreshold=0.02,
return S

def impulse(sys, T=None, X0=0., input=0, output=None, return_x=False):
'''
Impulse response of a linear system
'''Impulse response of a linear system

If the system has multiple inputs or outputs (MIMO), one input has
to be selected for the simulation. Optionally, one output may be
Expand All@@ -150,30 +139,24 @@ def impulse(sys, T=None, X0=0., input=0, output=None, return_x=False):
----------
sys: StateSpace, TransferFunction
LTI system to simulate

T: array-like or number, optional
Time vector, or simulation time duration if a number (time vector is
autocomputed if not given)

X0: array-like or number, optional
Initial condition (default = 0)

Numbers are converted to constant arrays with the correct shape.

input: int
Index of the input that will be used in this simulation.

output: int
Index of the output that will be used in this simulation.

Returns
-------
yout: array
Response of the system

T: array
Time values of the output

xout: array (if selected)
Individual response of each x variable

Expand All@@ -193,8 +176,7 @@ def impulse(sys, T=None, X0=0., input=0, output=None, return_x=False):
return (out[1], out[0], out[2]) if return_x else (out[1], out[0])

def initial(sys, T=None, X0=0., input=None, output=None, return_x=False):
'''
Initial condition response of a linear system
'''Initial condition response of a linear system

If the system has multiple outputs (?IMO), optionally, one output
may be selected. If no selection is made for the output, all
Expand All@@ -204,31 +186,25 @@ def initial(sys, T=None, X0=0., input=None, output=None, return_x=False):
----------
sys: StateSpace, or TransferFunction
LTI system to simulate

T: array-like or number, optional
Time vector, or simulation time duration if a number (time vector is
autocomputed if not given)

X0: array-like object or number, optional
Initial condition (default = 0)

Numbers are converted to constant arrays with the correct shape.

input: int
This input is ignored, but present for compatibility with step
and impulse.

output: int
If given, index of the output that is returned by this simulation.

Returns
-------
yout: array
Response of the system

T: array
Time values of the output

xout: array (if selected)
Individual response of each x variable

Expand All@@ -250,8 +226,7 @@ def initial(sys, T=None, X0=0., input=None, output=None, return_x=False):


def lsim(sys, U=0., T=None, X0=0.):
'''
Simulate the output of a linear system.
'''Simulate the output of a linear system

As a convenience for parameters `U`, `X0`:
Numbers (scalars) are converted to constant arrays with the correct shape.
Expand All@@ -261,16 +236,13 @@ def lsim(sys, U=0., T=None, X0=0.):
----------
sys: LTI (StateSpace, or TransferFunction)
LTI system to simulate

U: array-like or number, optional
Input array giving input at each time `T` (default = 0).

If `U` is ``None`` or ``0``, a special algorithm is used. This special
algorithm is faster than the general algorithm, which is used otherwise.

T: array-like, optional for discrete LTI `sys`
Time steps at which the input is defined; values must be evenly spaced.

X0: array-like or number, optional
Initial condition (default = 0).

Expand Down
3 changes: 1 addition & 2 deletionscontrol/matlab/wrappers.py
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Expand Up@@ -178,8 +178,7 @@ def ngrid():


def dcgain(*args):
'''
Compute the gain of the system in steady state.
'''Compute the gain of the system in steady state

The function takes either 1, 2, 3, or 4 parameters:

Expand Down
8 changes: 4 additions & 4 deletionscontrol/sisotool.py
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Expand Up@@ -209,10 +209,6 @@ def rootlocus_pid_designer(plant, gain='P', sign=+1, input_signal='r',

C_f = Kp + Ki/s + Kd*s/(tau*s + 1).

If `plant` is a discrete-time system, then the proportional, integral, and
derivative terms are given instead by Kp, Ki*dt/2*(z+1)/(z-1), and
Kd/dt*(z-1)/z, respectively.

::

------> C_ff ------ d
Expand All@@ -224,6 +220,10 @@ def rootlocus_pid_designer(plant, gain='P', sign=+1, input_signal='r',
| ----- C_b <-------|
---------------------------------

If `plant` is a discrete-time system, then the proportional, integral, and
derivative terms are given instead by Kp, Ki*dt/2*(z+1)/(z-1), and
Kd/dt*(z-1)/z, respectively.

It is also possible to move the derivative term into the feedback path
`C_b` using `derivative_in_feedback_path=True`. This may be desired to
avoid that the plant is subject to an impulse function when the reference
Expand Down
7 changes: 4 additions & 3 deletionscontrol/statesp.py
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Expand Up@@ -807,7 +807,7 @@ def __rdiv__(self, other):
"StateSpace.__rdiv__ is not implemented yet.")

def __call__(self, x, squeeze=None, warn_infinite=True):
"""Evaluate system'stransfer function at complexfrequency.
"""Evaluate system'sfrequency response at complexfrequencies.

Returns the complex frequency response `sys(x)` where `x` is `s` for
continuous-time systems and `z` for discrete-time systems.
Expand DownExpand Up@@ -1344,8 +1344,8 @@ def sample(self, Ts, method='zoh', alpha=None, prewarp_frequency=None,
sysd : StateSpace
Discrete-time system, with sampling rate Ts

Additional Parameters
---------------------
Other Parameters
----------------
inputs : int, list of str or None, optional
Description of the system inputs. If not specified, the origional
system inputs are used. See :class:`InputOutputSystem` for more
Expand DownExpand Up@@ -1520,6 +1520,7 @@ def output(self, t, x, u=None, params=None):


# TODO: add discrete time check
# TODO: copy signal names
def _convert_to_statespace(sys):
"""Convert a system to state space form (if needed).

Expand Down
8 changes: 4 additions & 4 deletionscontrol/xferfcn.py
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Expand Up@@ -1136,11 +1136,11 @@ def sample(self, Ts, method='zoh', alpha=None, prewarp_frequency=None,
sysd : TransferFunction system
Discrete-time system, with sample period Ts

Additional Parameters
---------------------
Other Parameters
----------------
inputs : int, list of str or None, optional
Description of the system inputs. If not specified, the origional
system inputs are used. See :class:`NamedIOSystem` for more
system inputs are used. See :class:`InputOutputSystem` for more
information.
outputs : int, list of str or None, optional
Description of the system outputs. Same format as `inputs`.
Expand DownExpand Up@@ -1585,7 +1585,7 @@ def tf(*args, **kwargs):
else:
raise ValueError("Needs 1 or 2 arguments; received %i." % len(args))


# TODO: copy signal names
def ss2tf(*args, **kwargs):
"""ss2tf(sys)

Expand Down
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