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Merge pull request #1 from python-control/master
Actualización del upstream
2 parents 58c7f85 + 7b07af3 commit 25729d3

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‎.gitignore‎

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.coverage
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doc/_build
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doc/generated
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examples/.ipynb_checkpoints/
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.settings/org.eclipse.core.resources.prefs
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.pydevproject
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.project
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Untitled*.ipynb
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*.idea/

‎.travis.yml‎

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sudo: false
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language: python
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cache:
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apt: true
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pip: true
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directories:
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- $HOME/.cache/pip
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- $HOME/.local
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python:
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- "2.7"
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- "3.3"
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- sh -e /etc/init.d/xvfb start
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# use miniconda to install numpy/scipy, to avoid lengthy build from source
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- if [[ "$TRAVIS_PYTHON_VERSION" == "2.7" ]]; then
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wget http://repo.continuum.io/miniconda/Miniconda-3.4.2-Linux-x86_64.sh -O miniconda.sh;
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wget http://repo.continuum.io/miniconda/Miniconda-latest-Linux-x86_64.sh -O miniconda.sh;
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else
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wget http://repo.continuum.io/miniconda/Miniconda3-3.4.2-Linux-x86_64.sh -O miniconda.sh;
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wget http://repo.continuum.io/miniconda/Miniconda3-latest-Linux-x86_64.sh -O miniconda.sh;
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fi
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- bash miniconda.sh -b -p $HOME/miniconda
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- export PATH="$HOME/miniconda/bin:$PATH"
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# Install packages
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install:
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- conda install slycot
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- conda build conda-recipe
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- conda install control --use-local
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- conda install slycot
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- pip install coveralls
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# command to run tests

‎LICENSE‎

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Copyright (c) 2009-2016 by California Institute of Technology
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions
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are met:
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1. Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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3. Neither the name of the copyright holder(s) nor the names of its
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contributors may be used to endorse or promote products derived
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from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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COPYRIGHT HOLDERS OR THE CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
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INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
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HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
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STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
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OF THE POSSIBILITY OF SUCH DAMAGE.

‎README.rst‎

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python setup.py test
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License
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-------
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This is free software released under the terms of `the BSD 3-Clause
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License <http://opensource.org/licenses/BSD-3-Clause>`_. There is no
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warranty; not even for merchantability or fitness for a particular
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purpose. Consult LICENSE for copying conditions.
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When code is modified or re-distributed, the LICENSE file should
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accompany the code or any subset of it, however small. As an
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alternative, the LICENSE text can be copied within files, if so
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desired.
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Contributing
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------------
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Your contributions are welcome! Simply fork the GitHub repository and send a
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`pull request`_.
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.. _pull request: https://github.com/python-control/python-control/pulls
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‎control/__init__.py‎

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"""
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# Import functions from within the control system library
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# Should probably only import the exact functions we use...
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from .bdalg import series, parallel, negate, feedback
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from .delay import pade
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from .dtime import sample_system
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from .freqplot import bode_plot, nyquist_plot, gangof4_plot
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from .freqplot import bode, nyquist, gangof4
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from .lti import issiso, timebase, timebaseEqual, isdtime, isctime
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from .margins import stability_margins, phase_crossover_frequencies
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from .mateqn import lyap, dlyap, care, dare
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from .modelsimp import hsvd, modred, balred, era, markov, minreal
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from .nichols import nichols_plot, nichols
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from .phaseplot import phase_plot, box_grid
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from .pzmap import pzmap
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from .rlocus import root_locus
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from .statefbk import place, lqr, ctrb, obsv, gram, acker
63-
from .statesp import StateSpace
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from .timeresp import forced_response, initial_response, step_response, \
65-
impulse_response
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from .xferfcn import TransferFunction
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# Note: the functions we use are specified as __all__ variables in the modules
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from .bdalg import *
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from .delay import *
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from .dtime import *
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from .freqplot import *
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from .lti import *
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from .margins import *
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from .mateqn import *
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from .modelsimp import *
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from .nichols import *
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from .phaseplot import *
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from .pzmap import *
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from .rlocus import *
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from .statefbk import *
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from .statesp import *
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from .timeresp import *
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from .xferfcn import *
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from .ctrlutil import *
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from .frdata import FRD
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from .canonical import canonical_form, reachable_form
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from .frdata import *
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from .canonical import *
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# Exceptions
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from .exception import *
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except ImportError:
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__version__ = "dev"
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# Import some of the more common (and benign) MATLAB shortcuts
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# By default, don't import conflicting commands here
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#! TODO (RMM, 4 Nov 2012): remove MATLAB dependencies from __init__.py
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#!
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#! Eventually, all functionality should be in modules *other* than matlab.
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#! This will allow inclusion of the matlab module to set up a different set
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#! of defaults from the main package. At that point, the matlab module will
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#! allow provide compatibility with MATLAB but no package functionality.
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#!
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from .matlab import ss, tf, ss2tf, tf2ss, drss
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from .matlab import pole, zero, evalfr, freqresp, dcgain
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from .matlab import nichols, rlocus, margin
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# bode and nyquist come directly from freqplot.py
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from .matlab import step, impulse, initial, lsim
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from .matlab import ssdata, tfdata
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# The following is to use Numpy's testing framework
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# Tests go under directory tests/, benchmarks under directory benchmarks/
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from numpy.testing import Tester

‎control/bdalg.py‎

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from . import statesp as ss
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from . import frdata as frd
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__all__ = ['series', 'parallel', 'negate', 'feedback', 'append', 'connect']
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def series(sys1, sys2):
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"""Return the series connection sys2 * sys1 for --> sys1 --> sys2 -->.
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‎control/canonical.py‎

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from numpy import zeros, shape, poly
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from numpy.linalg import inv
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__all__ = ['canonical_form', 'reachable_form']
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def canonical_form(xsys, form='reachable'):
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"""Convert a system into canonical form

‎control/config.py‎

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bode_dB = False # Bode plot magnitude units
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bode_deg = True # Bode Plot phase units
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bode_Hz = False # Bode plot frequency units
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bode_number_of_samples = None # Bode plot number of samples
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bode_feature_periphery_decade = 1.0 # Bode plot feature periphery in decades
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# Set defaults to match MATLAB
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def use_matlab_defaults():

‎control/delay.py‎

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# -*-coding: utf-8-*-
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#! TODO: add module docstring
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# delay.py - functions involving time delays
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#
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# Author: Sawyer Fuller
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# Date: 26 Aug 2010
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#
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#
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# This file contains functions for implementing time delays (currently
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# only the pade() function).
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#
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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#
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#
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in the
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# documentation and/or other materials provided with the distribution.
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#
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#
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# 3. Neither the name of the California Institute of Technology nor
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# the names of its contributors may be used to endorse or promote
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# products derived from this software without specific prior
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# written permission.
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#
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
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# OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
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# SUCH DAMAGE.
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#
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#
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# $Id$
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# Python 3 compatability (needs to go here)
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from __future__ import print_function
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from __future__ import division
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__all__ = ['pade']
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47-
def pade(T, n=1):
48-
"""
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def pade(T, n=1, numdeg=None):
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"""
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Create a linear system that approximates a delay.
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Return the numerator and denominator coefficients of the Pade approximation.
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Parameters
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----------
5557
T : number
5658
time delay
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n : integer
58-
order of approximation
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n : positive integer
60+
degree of denominator of approximation
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numdeg: integer, or None (the default)
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If None, numerator degree equals denominator degree
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If >= 0, specifies degree of numerator
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If < 0, numerator degree is n+numdeg
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Returns
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-------
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-------
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num, den : array
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Polynomial coefficients of the delay model, in descending powers of s.
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Notes
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-----
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Based on an algorithm in Golub and van Loan, "Matrix Computation" 3rd.
68-
Ed. pp. 572-574.
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Based on:
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1. Algorithm 11.3.1 in Golub and van Loan, "Matrix Computation" 3rd.
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Ed. pp. 572-574
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2. M. Vajta, "Some remarks on Padé-approximations",
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3rd TEMPUS-INTCOM Symposium
6978
"""
79+
if numdeg is None:
80+
numdeg = n
81+
elif numdeg < 0:
82+
numdeg += n
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84+
if not T >= 0:
85+
raise ValueError("require T >= 0")
86+
if not n >= 0:
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raise ValueError("require n >= 0")
88+
if not (0 <= numdeg <= n):
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raise ValueError("require 0 <= numdeg <= n")
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if T == 0:
7192
num = [1,]
7293
den = [1,]
7394
else:
74-
num = [0. for i in range(n+1)]
95+
num = [0. for i in range(numdeg+1)]
7596
num[-1] = 1.
97+
cn = 1.
98+
for k in range(1, numdeg+1):
99+
# derived from Gloub and van Loan eq. for Dpq(z) on p. 572
100+
# this accumulative style follows Alg 11.3.1
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cn *= -T * (numdeg - k + 1)/(numdeg + n - k + 1)/k
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num[numdeg-k] = cn
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76104
den = [0. for i in range(n+1)]
77105
den[-1] = 1.
78-
c = 1.
106+
cd = 1.
79107
for k in range(1, n+1):
80-
c = T * c * (n - k + 1)/(2 * n - k + 1)/k
81-
num[n - k] = c * (-1)**k
82-
den[n - k] = c
108+
# see cn above
109+
cd *= T * (n - k + 1)/(numdeg + n - k + 1)/k
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den[n-k] = cd
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num = [coeff/den[0] for coeff in num]
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den = [coeff/den[0] for coeff in den]
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return num, den
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return num, den

‎control/dtime.py‎

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"""
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from .lti import isctime
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from .statesp import StateSpace, _convertToStateSpace
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__all__ = ['sample_system', 'c2d']
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# Sample a continuous time system
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def sample_system(sysc, Ts, method='zoh', alpha=None):
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raise ValueError("First argument must be continuous time system")
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return sysc.sample(Ts, method, alpha)
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def c2d(sysc, Ts, method='zoh'):
94+
'''
95+
Return a discrete-time system
96+
97+
Parameters
98+
----------
99+
sysc: LTI (StateSpace or TransferFunction), continuous
100+
System to be converted
101+
102+
Ts: number
103+
Sample time for the conversion
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105+
method: string, optional
106+
Method to be applied,
107+
'zoh' Zero-order hold on the inputs (default)
108+
'foh' First-order hold, currently not implemented
109+
'impulse' Impulse-invariant discretization, currently not implemented
110+
'tustin' Bilinear (Tustin) approximation, only SISO
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'matched' Matched pole-zero method, only SISO
112+
'''
113+
# Call the sample_system() function to do the work
114+
sysd = sample_system(sysc, Ts, method)
115+
if isinstance(sysc, StateSpace) and not isinstance(sysd, StateSpace):
116+
return _convertToStateSpace(sysd)
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return sysd

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