Merge pull request #518 from roryyorke/rory/minor-fixes · python-control/python-control@6d51358

5 files changed

lines changed

Original file line number	Diff line number	Diff line change
`@@ -155,7 +155,7 @@ def testConvert(self, fixedseed, states, inputs, outputs):`
`155`	`155`	`def testConvertMIMO(self):`
`156`	`156`	`"""Test state space to transfer function conversion.`
`157`	`157`
`158`		`- Do a MIMO conversation and make sure that it is processed`
	`158`	`+ Do a MIMO conversion and make sure that it is processed`
`159`	`159`	`correctly both with and without slycot`
`160`	`160`
`161`	`161`	`Example from issue gh-120, jgoppert`

Original file line number	Diff line number	Diff line change
`@@ -356,7 +356,7 @@ def forced_response(sys, T=None, U=0., X0=0., transpose=False,`
`356`	`356`	`if isinstance(sys, TransferFunction) and np.any(X0 != 0):`
`357`	`357`	`warnings.warn(`
`358`	`358`	`"Non-zero initial condition given for transfer function system. "`
`359`		`-"Internal conversation to state space used; may not be consistent "`
	`359`	`+"Internal conversion to state space used; may not be consistent "`
`360`	`360`	`"with given X0.")`
`361`	`361`
`362`	`362`	`xout = np.zeros((n_states, n_steps))`
`@@ -702,7 +702,7 @@ def step_response(sys, T=None, X0=0., input=None, output=None, T_num=None,`
`702`	`702`	`if isinstance(sys, TransferFunction) and np.any(X0 != 0):`
`703`	`703`	`warnings.warn(`
`704`	`704`	`"Non-zero initial condition given for transfer function system. "`
`705`		`-"Internal conversation to state space used; may not be consistent "`
	`705`	`+"Internal conversion to state space used; may not be consistent "`
`706`	`706`	`"with given X0.")`
`707`	`707`
`708`	`708`	`# Convert to state space so that we can simulate`

Original file line number	Diff line number	Diff line change
`@@ -54,11 +54,8 @@ def analysis():`
`54`	`54`	`g = plant()`
`55`	`55`
`56`	`56`	`t = np.linspace(0, 10, 101)`
`57`		`-_, yu1 = step_response(g, t, input=0)`
`58`		`-_, yu2 = step_response(g, t, input=1)`
`59`		`-`
`60`		`-yu1 = yu1`
`61`		`-yu2 = yu2`
	`57`	`+_, yu1 = step_response(g, t, input=0, squeeze=True)`
	`58`	`+_, yu2 = step_response(g, t, input=1, squeeze=True)`
`62`	`59`
`63`	`60`	`# linear system, so scale and sum previous results to get the`
`64`	`61`	`# [1,-1] response`
`@@ -112,8 +109,8 @@ def synth(wb1, wb2):`
`112`	`109`
`113`	`110`	`def step_opposite(g, t):`
`114`	`111`	`"""reponse to step of [-1,1]"""`
`115`		`-_, yu1 = step_response(g, t, input=0)`
`116`		`-_, yu2 = step_response(g, t, input=1)`
	`112`	`+_, yu1 = step_response(g, t, input=0, squeeze=True)`
	`113`	`+_, yu2 = step_response(g, t, input=1, squeeze=True)`
`117`	`114`	`return yu1 - yu2`
`118`	`115`
`119`	`116`

Original file line number	Diff line number	Diff line change
`@@ -24,7 +24,7 @@`
`24`	`24`
`25`	`25`	`# Bode plot for the system`
`26`	`26`	`plt.figure(2)`
`27`		`-mag, phase, om = bode(sys, logspace(-2, 2), Plot=True)`
	`27`	`+mag, phase, om = bode(sys, logspace(-2, 2), plot=True)`
`28`	`28`	`plt.show(block=False)`
`29`	`29`
`30`	`30`	`# Nyquist plot for the system`

Original file line number	Diff line number	Diff line change
`@@ -4,7 +4,9 @@`
`4`	`4`	`import os`
`5`	`5`	`import matplotlib.pyplot as plt # MATLAB plotting functions`
`6`	`6`	`from control.matlab import * # Load the controls systems library`
`7`		`-from scipy import arange # function to create range of numbers`
	`7`	`+from numpy import arange # function to create range of numbers`
	`8`	`+`
	`9`	`+from control import reachable_form`
`8`	`10`
`9`	`11`	`# Create several systems for testing`
`10`	`12`	`sys1 = tf([1], [1, 2, 1])`
`@@ -13,10 +15,18 @@`
`13`	`15`	`# Generate step responses`
`14`	`16`	`(y1a, T1a) = step(sys1)`
`15`	`17`	`(y1b, T1b) = step(sys1, T=arange(0, 10, 0.1))`
`16`		`-(y1c, T1c) = step(sys1, X0=[1, 0])`
	`18`	`+# convert to reachable canonical SS to specify initial state`
	`19`	`+sys1_ss = reachable_form(ss(sys1))[0]`
	`20`	`+(y1c, T1c) = step(sys1_ss, X0=[1, 0])`
`17`	`21`	`(y2a, T2a) = step(sys2, T=arange(0, 10, 0.1))`
`18`	`22`
`19`		`-plt.plot(T1a, y1a, T1b, y1b, T1c, y1c, T2a, y2a)`
	`23`	`+plt.plot(T1a, y1a, label='$g_1$ (default)', linewidth=5)`
	`24`	`+plt.plot(T1b, y1b, label='$g_1$ (w/ spec. times)', linestyle='--')`
	`25`	`+plt.plot(T1c, y1c, label='$g_1$ (w/ init cond.)')`
	`26`	`+plt.plot(T2a, y2a, label='$g_2$ (w/ spec. times)')`
	`27`	`+plt.xlabel('time')`
	`28`	`+plt.ylabel('output')`
	`29`	`+plt.legend()`
`20`	`30`
`21`	`31`	`if 'PYCONTROL_TEST_EXAMPLES' not in os.environ:`
`22`		`-plt.show()`
	`32`	`+plt.show()`