# __init__.py - initialization for control systems toolbox

#

# Author: Richard M. Murray

# Date: 24 May 09

#

# This file contains the initialization information from the control package.

#

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# $Id: __init__.py 248 2013-03-03 01:12:34Z murrayrm $

"""Control System Library

The Python Control System Library (control) provides common functions

for analyzing and designing feedback control systems.

Common functions

----------------

tf create a transfer function from num, den coefficients

ss create a state space system from A, B, C, D matrices

pzk create a transfer function from pole, zero, gain

frd create a system description as frequency response

bode generate a Bode plot for a linear I/O system

nyquist generate a Nyquist plot for a linear I/O system

lqr linear quadratic regulator

lqe linear quadratic estimator

"""

# Import functions from within the control system library

#! Should probably only import the exact functions we use...

from control.bdalg import series, parallel, negate, feedback

from control.delay import pade

from control.dtime import sample_system

from control.freqplot import bode_plot, nyquist_plot, gangof4_plot

from control.freqplot import bode, nyquist, gangof4

from control.lti import issiso, timebase, timebaseEqual, isdtime, isctime

from control.margins import stability_margins, phase_crossover_frequencies

from control.mateqn import lyap, dlyap, care, dare

from control.modelsimp import hsvd, modred, balred, era, markov

from control.nichols import nichols_plot, nichols

from control.phaseplot import phase_plot, box_grid

from control.rlocus import root_locus

from control.statefbk import place, lqr, ctrb, obsv, gram, acker

from control.statesp import StateSpace

from control.timeresp import forced_response, initial_response, step_response, \

impulse_response

from control.xferfcn import TransferFunction

from control.ctrlutil import unwrap, issys

from control.frdata import FRD

from control.canonical import canonical_form, reachable_form

# Exceptions

from control.exception import *

# Import some of the more common (and benign) MATLAB shortcuts

# By default, don't import conflicting commands here

#! TODO (RMM, 4 Nov 2012): remove MATLAB dependencies from __init__.py

#!

#! Eventually, all functionality should be in modules *other* than matlab.

#! This will allow inclusion of the matlab module to set up a different set

#! of defaults from the main package. At that point, the matlab module will

#! allow provide compatibility with MATLAB but no package functionality.

#!

from control.matlab import ss, tf, ss2tf, tf2ss, drss

from control.matlab import pole, zero, evalfr, freqresp, dcgain

from control.matlab import nichols, rlocus, margin

# bode and nyquist come directly from freqplot.py

from control.matlab import step, impulse, initial, lsim

from control.matlab import ssdata, tfdata