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murrayrm merged 1 commit into from
Jul 21, 2019
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update FRD class name to fix MacOS sphinx build problems #326

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195 changes: 104 additions & 91 deletions control/frdata.py
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Original file line number Diff line number Diff line change
@@ -1,53 +1,49 @@
# Copyright (c) 2010 by California Institute of Technology
# Copyright (c) 2012 by Delft University of Technology
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
#
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in the
# documentation and/or other materials provided with the distribution.
#
# 3. Neither the names of the California Institute of Technology nor
# the Delft University of Technology nor
# the names of its contributors may be used to endorse or promote
# products derived from this software without specific prior
# written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL CALTECH
# OR THE CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
# USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
# ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
# OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
# SUCH DAMAGE.
#
# Author: M.M. (Rene) van Paassen (using xferfcn.py as basis)
# Date: 02 Oct 12

from __future__ import division

"""
Frequency response data representation and functions.

This module contains the FRD class and also functions that operate on
FRD data.
"""

"""Copyright (c) 2010 by California Institute of Technology
Copyright (c) 2012 by Delft University of Technology
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions
are met:

1. Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.

2. Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.

3. Neither the names of the California Institute of Technology nor
the Delft University of Technology nor
the names of its contributors may be used to endorse or promote
products derived from this software without specific prior
written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL CALTECH
OR THE CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
SUCH DAMAGE.

Author: M.M. (Rene) van Paassen (using xferfcn.py as basis)
Date: 02 Oct 12
Revised:

$Id: frd.py 185 2012-08-30 05:44:32Z murrayrm $

"""

# External function declarations
from warnings import warn
import numpy as np
Expand All @@ -56,21 +52,22 @@
from scipy.interpolate import splprep, splev
from .lti import LTI

__all__ = ['FRD', 'frd']
__all__ = ['FrequencyResponseData', 'FRD', 'frd']


class FRD(LTI):
"""FRD(d, w)
class FrequencyResponseData(LTI):
"""FrequencyResponseData(d, w)

A class for models defined by frequency response data (FRD)

The FRD class is used to represent systems in frequency response data form.
The FrequencyResponseData (FRD) class is used to represent systems in
frequency response data form.

The main data members are 'omega' and 'fresp', where `omega` is a 1D
array with the frequency points of the response, and `fresp` is a 3D array,
with the first dimension corresponding to the output index of the FRD,
the second dimension corresponding to the input index, and the 3rd dimension
corresponding to the frequency points in omega.
For example,
The main data members are 'omega' and 'fresp', where `omega` is a 1D array
with the frequency points of the response, and `fresp` is a 3D array, with
the first dimension corresponding to the output index of the FRD, the
second dimension corresponding to the input index, and the 3rd dimension
corresponding to the frequency points in omega. For example,

>>> frdata[2,5,:] = numpy.array([1., 0.8-0.2j, 0.2-0.8j])

Expand All @@ -88,9 +85,7 @@ class FRD(LTI):
epsw = 1e-8

def __init__(self, *args, **kwargs):
"""FRD(d, w)

Construct an FRD object
"""Construct an FRD object.

The default constructor is FRD(d, w), where w is an iterable of
frequency points, and d is the matching frequency data.
Expand Down Expand Up @@ -154,10 +149,10 @@ def __init__(self, *args, **kwargs):
dtype=tuple)
for i in range(self.fresp.shape[0]):
for j in range(self.fresp.shape[1]):
self.ifunc[i,j],u = splprep(
self.ifunc[i, j], u = splprep(
u=self.omega, x=[real(self.fresp[i, j, :]),
imag(self.fresp[i, j, :])],
w=1.0/(absolute(self.fresp[i, j, :])+0.001), s=0.0)
w=1.0/(absolute(self.fresp[i, j, :]) + 0.001), s=0.0)
else:
self.ifunc = None
LTI.__init__(self, self.fresp.shape[1], self.fresp.shape[0])
Expand All @@ -166,7 +161,7 @@ def __str__(self):
"""String representation of the transfer function."""

mimo = self.inputs > 1 or self.outputs > 1
outstr = [ 'frequency response data ' ]
outstr = ['frequency response data ']

mt, pt, wt = self.freqresp(self.omega)
for i in range(self.inputs):
Expand All @@ -176,9 +171,9 @@ def __str__(self):
outstr.append('Freq [rad/s] Response ')
outstr.append('------------ ---------------------')
outstr.extend(
[ '%12.3f %10.4g%+10.4gj' % (w, m, p)
for m, p, w in zip(real(self.fresp[j,i,:]), imag(self.fresp[j,i,:]), wt) ])

['%12.3f %10.4g%+10.4gj' % (w, m, p)
for m, p, w in zip(real(self.fresp[j, i, :]),
imag(self.fresp[j, i, :]), wt)])

return '\n'.join(outstr)

Expand All @@ -194,8 +189,8 @@ def __add__(self, other):
# verify that the frequencies match
if len(other.omega) != len(self.omega) or \
(other.omega != self.omega).any():
warn("Frequency points do not match; expect"
" truncation and interpolation.")
warn("Frequency points do not match; expect "
"truncation and interpolation.")

# Convert the second argument to a frequency response function.
# or re-base the frd to the current omega (if needed)
Expand All @@ -214,7 +209,7 @@ def __add__(self, other):
def __radd__(self, other):
"""Right add two LTI objects (parallel connection)."""

return self + other;
return self + other

def __sub__(self, other):
"""Subtract two LTI objects."""
Expand All @@ -238,16 +233,17 @@ def __mul__(self, other):

# Check that the input-output sizes are consistent.
if self.inputs != other.outputs:
raise ValueError("H = G1*G2: input-output size mismatch"
" G1 has %i input(s), G2 has %i output(s)." %
raise ValueError(
"H = G1*G2: input-output size mismatch: "
"G1 has %i input(s), G2 has %i output(s)." %
(self.inputs, other.outputs))

inputs = other.inputs
outputs = self.outputs
fresp = empty((outputs, inputs, len(self.omega)),
dtype=self.fresp.dtype)
for i in range(len(self.omega)):
fresp[:,:,i] = dot(self.fresp[:,:,i], other.fresp[:,:,i])
fresp[:, :, i] = dot(self.fresp[:, :, i], other.fresp[:, :, i])
return FRD(fresp, self.omega,
smooth=(self.ifunc is not None) and
(other.ifunc is not None))
Expand All @@ -264,8 +260,9 @@ def __rmul__(self, other):

# Check that the input-output sizes are consistent.
if self.outputs != other.inputs:
raise ValueError("H = G1*G2: input-output size mismatch"
" G1 has %i input(s), G2 has %i output(s)." %
raise ValueError(
"H = G1*G2: input-output size mismatch: "
"G1 has %i input(s), G2 has %i output(s)." %
(other.inputs, self.outputs))

inputs = self.inputs
Expand All @@ -274,7 +271,7 @@ def __rmul__(self, other):
fresp = empty((outputs, inputs, len(self.omega)),
dtype=self.fresp.dtype)
for i in range(len(self.omega)):
fresp[:,:,i] = dot(other.fresp[:,:,i], self.fresp[:,:,i])
fresp[:, :, i] = dot(other.fresp[:, :, i], self.fresp[:, :, i])
return FRD(fresp, self.omega,
smooth=(self.ifunc is not None) and
(other.ifunc is not None))
Expand All @@ -289,11 +286,11 @@ def __truediv__(self, other):
else:
other = _convertToFRD(other, omega=self.omega)


if (self.inputs > 1 or self.outputs > 1 or
other.inputs > 1 or other.outputs > 1):
raise NotImplementedError(
"FRD.__truediv__ is currently implemented only for SISO systems.")
"FRD.__truediv__ is currently only implemented for SISO "
"systems.")

return FRD(self.fresp/other.fresp, self.omega,
smooth=(self.ifunc is not None) and
Expand All @@ -315,20 +312,21 @@ def __rtruediv__(self, other):
if (self.inputs > 1 or self.outputs > 1 or
other.inputs > 1 or other.outputs > 1):
raise NotImplementedError(
"FRD.__rtruediv__ is currently implemented only for SISO systems.")
"FRD.__rtruediv__ is currently only implemented for "
"SISO systems.")

return other / self

# TODO: Remove when transition to python3 complete
def __rdiv__(self, other):
return self.__rtruediv__(other)

def __pow__(self,other):
def __pow__(self, other):
if not type(other) == int:
raise ValueError("Exponent must be an integer")
if other == 0:
return FRD(ones(self.fresp.shape),self.omega,
smooth=(self.ifunc is not None)) #unity
return FRD(ones(self.fresp.shape), self.omega,
smooth=(self.ifunc is not None)) # unity
if other > 0:
return self * (self**(other-1))
if other < 0:
Expand All @@ -347,7 +345,7 @@ def evalfr(self, omega):

"""
warn("FRD.evalfr(omega) will be deprecated in a future release "
"of python-control; use sys.eval(omega) instead",
"of python-control; use sys.eval(omega) instead",
PendingDeprecationWarning) # pragma: no coverage
return self._evalfr(omega)

Expand Down Expand Up @@ -381,22 +379,22 @@ def _evalfr(self, omega):
if self.ifunc is None:
try:
out = self.fresp[:, :, where(self.omega == omega)[0][0]]
except:
except Exception:
raise ValueError(
"Frequency %f not in frequency list, try an interpolating"
" FRD if you want additional points" % omega)
else:
if getattr(omega, '__iter__', False):
for i in range(self.outputs):
for j in range(self.inputs):
for k,w in enumerate(omega):
frraw = splev(w, self.ifunc[i,j], der=0)
out[i,j,k] = frraw[0] + 1.0j*frraw[1]
for k, w in enumerate(omega):
frraw = splev(w, self.ifunc[i, j], der=0)
out[i, j, k] = frraw[0] + 1.0j * frraw[1]
else:
for i in range(self.outputs):
for j in range(self.inputs):
frraw = splev(omega, self.ifunc[i,j], der=0)
out[i,j] = frraw[0] + 1.0j*frraw[1]
frraw = splev(omega, self.ifunc[i, j], der=0)
out[i, j] = frraw[0] + 1.0j * frraw[1]

return out

Expand All @@ -406,9 +404,10 @@ def freqresp(self, omega):

mag, phase, omega = self.freqresp(omega)

reports the value of the magnitude, phase, and angular frequency of the
transfer function matrix evaluated at s = i * omega, where omega is a
list of angular frequencies, and is a sorted version of the input omega.
reports the value of the magnitude, phase, and angular frequency of
the transfer function matrix evaluated at s = i * omega, where omega
is a list of angular frequencies, and is a sorted version of the input
omega.

"""

Expand All @@ -431,8 +430,7 @@ def feedback(self, other=1, sign=-1):

other = _convertToFRD(other, omega=self.omega)

if (self.outputs != other.inputs or
self.inputs != other.outputs):
if (self.outputs != other.inputs or self.inputs != other.outputs):
raise ValueError(
"FRD.feedback, inputs/outputs mismatch")
fresp = empty((self.outputs, self.inputs, len(other.omega)),
Expand All @@ -452,6 +450,20 @@ def feedback(self, other=1, sign=-1):

return FRD(fresp, other.omega, smooth=(self.ifunc is not None))

#
# Allow FRD as an alias for the FrequencyResponseData class
#
# Note: This class was initially given the name "FRD", but this caused
# problems with documentation on MacOS platforms, since files were generated
# for control.frd and control.FRD, which are not differentiated on most MacOS
# filesystems, which are case insensitive. Renaming the FRD class to be
# FrequenceResponseData and then assigning FRD to point to the same object
# fixes this problem.
#

FRD = FrequencyResponseData


def _convertToFRD(sys, omega, inputs=1, outputs=1):
"""Convert a system to frequency response data form (if needed).

Expand Down Expand Up @@ -495,18 +507,19 @@ def _convertToFRD(sys, omega, inputs=1, outputs=1):
# try converting constant matrices
try:
sys = array(sys)
outputs,inputs = sys.shape
outputs, inputs = sys.shape
fresp = empty((outputs, inputs, len(omega)), dtype=float)
for i in range(outputs):
for j in range(inputs):
fresp[i,j,:] = sys[i,j]
fresp[i, j, :] = sys[i, j]
return FRD(fresp, omega, smooth=True)
except:
except Exception:
pass

raise TypeError('''Can't convert given type "%s" to FRD system.''' %
sys.__class__)


def frd(*args):
"""frd(d, w)

Expand Down
2 changes: 1 addition & 1 deletion doc/classes.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,7 @@ these directly.

TransferFunction
StateSpace
FRD
FrequencyResponseData
InputOutputSystem

Input/Output system subclasses
Expand Down
4 changes: 2 additions & 2 deletions doc/conventions.rst
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Expand Up @@ -62,8 +62,8 @@ function. A full list of functions can be found in :ref:`function-ref`.

FRD (frequency response data) systems
-------------------------------------
The :class:`FRD` class is used to represent systems in frequency response
data form.
The :class:`FrequencyResponseData` (FRD) class is used to represent systems in
frequency response data form.

The main data members are `omega` and `fresp`, where `omega` is a 1D array
with the frequency points of the response, and `fresp` is a 3D array, with
Expand Down