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Small fixes to iosys #312

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Merged
murrayrm merged 12 commits into from
Jun 9, 2019
Merged

Small fixes to iosys #312

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2828c9d
initial release of I/O systems module
murrayrm Apr 28, 2019
5f112f8
add additional unit tests for iosys + a fix in neg()
murrayrm May 26, 2019
5299766
allow selection of variables in iosys.find_eqpts()
murrayrm May 27, 2019
8f0ad6a
add unit tests to iosys to increase coverage
murrayrm May 27, 2019
9f5d669
TRV: updated features list for iosys
murrayrm May 30, 2019
af8e70b
Merge branch 'master' into iosys
murrayrm Jun 9, 2019
4983a99
fix error in stacking outputs for InterconnectedSystem
murrayrm Jun 9, 2019
7fe0256
fix error in iosys (forgot to push changes before PR)
murrayrm Jun 9, 2019
a75d1e6
Remove bad character in comment (py2.7 error)
murrayrm Jun 9, 2019
43201c7
Fix second encoding error
murrayrm Jun 9, 2019
f8b73e2
Use list() to create copy in py2.7
murrayrm Jun 9, 2019
d732b96
TRV: docstring mispelling
murrayrm Jun 9, 2019
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4 changes: 2 additions & 2 deletions control/iosys.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1085,8 +1085,8 @@ def _compute_static_io(self, t, x, u):
ysys.reshape((-1,))

# Store the input in the second part of ylist
ylist[noutputs + output_index:
noutputs + output_index + sys.ninputs] = \
ylist[noutputs + input_index:
noutputs + input_index + sys.ninputs] = \
ulist[input_index:input_index + sys.ninputs]

# Increment the index pointers
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6 changes: 3 additions & 3 deletions examples/cruise-control.py
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Original file line number Diff line number Diff line change
Expand Up @@ -84,13 +84,13 @@ def vehicle_update(t, x, u, params={}):
Fg = m * g * sin(theta)

# A simple model of rolling friction is Fr = m g Cr sgn(v), where Cr is
# the coefficient of rolling friction and sgn(v) is the sign of v (±1) or
# the coefficient of rolling friction and sgn(v) is the sign of v (+/- 1) or
# zero if v = 0.

Fr = m * g * Cr * sign(v)

# The aerodynamic drag is proportional to the square of the speed: Fa =
# 1/\rho Cd A |v| v, where ρ is the density of air, Cd is the
# 1/\rho Cd A |v| v, where \rho is the density of air, Cd is the
# shape-dependent aerodynamic drag coefficient, and A is the frontal area
# of the car.

Expand Down Expand Up @@ -301,7 +301,7 @@ def cruise_plot(sys, t, y, t_hill=5, vref=20, antiwindup=False,
while min(y[v_ind]) < v_min: v_min -= 1

# Create arrays for return values
subplot_axes = subplots.copy()
subplot_axes = list(subplots)

# Velocity profile
if subplot_axes[0] is None:
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