* Adding a few unit tests (will probably get redone in v0.4a)

murrayrm · murrayrm · commit 4f1440908573 · 2011-02-13T03:32:11.000Z
* Updated list of changes 
* Incremented version number to 0.3d

This is intended to be final set of changes before moving over to v0.4a
diff --git a/ChangeLog b/ChangeLog
@@ -1,3 +1,16 @@
+2011-02-12  Richard Murray  <murray@sumatra.local>
+
+	* setup.py: Updated version number to 0.3d, in preparation for release
+
+	* src/statefbk.py (lqr): Updated sb02md calling signature to match
+	latest slycot version (Lauren Padilla)
+
+	* src/freqplot.py (nichols_grid): new function from Allan McInnes
+	<allan.mcinnes@canterbury.ac.nz> to generate a Nichols chart for a
+	given plot (equivalent to ngrid in MATLAB).
+
+	* src/matlab.py (ngrid): MATLAB compatible ngrid() command
+
 2010-11-05  Richard Murray  <murray@sumatra.local>
 
 	* external/yottalab.py: New file containing Roberto Bucher's control
diff --git a/examples/bdalg-matlab.py b/examples/bdalg-matlab.py
@@ -0,0 +1,17 @@
+# bdalg-matlab.py - demonstrate some MATLAB commands for block diagram altebra
+# RMM, 29 May 09
+
+from control.matlab import *    # MATLAB-like functions
+
+# System matrices
+A1 = [[0, 1.], [-4, -1]]
+B1 = [[0], [1.]]
+C1 = [[1., 0]]
+sys1ss = ss(A1, B1, C1, 0)
+sys1tf = ss2tf(sys1ss)
+
+sys2tf = tf([1, 0.5], [1, 5]);
+sys2ss = tf2ss(sys2tf);
+
+# Series composition
+series1 = sys1ss + sys2ss;
diff --git a/examples/test-statefbk.py b/examples/test-statefbk.py
@@ -0,0 +1,27 @@
+# test-statefbk.py - Unit tests for state feedback code
+# RMM, 6 Sep 2010
+
+import numpy as np              # Numerical library
+from scipy import *             # Load the scipy functions
+from control.matlab import *    # Load the controls systems library
+
+# Parameters defining the system
+m = 250.0			# system mass
+k = 40.0			# spring constant
+b = 60.0			# damping constant
+
+# System matrices
+A = matrix([[1, -1, 1.], [1, -k/m, -b/m], [1, 1, 1]])
+B = matrix([[0], [1/m], [1]])
+C = matrix([[1., 0, 1.]])
+sys = ss(A, B, C, 0);
+
+# Controllability
+Wc = ctrb(A, B)
+print "Wc = ", Wc
+
+# Observability
+Wo = obsv(A, C)
+print "Wo = ", Wo
+
+
diff --git a/setup.py b/setup.py
@@ -3,7 +3,7 @@
 from distutils.core import setup
 
 setup(name='control',
-      version='0.3c',
+      version='0.3d',
       description='Python Control Systems Library',
       author='Richard Murray',
       author_email='murray@cds.caltech.edu',
