Improve code style, markov by KybernetikJo · Pull Request #1051 · python-control/python-control
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@@ -667,21 +667,21 @@ def markov(*args, m=None, transpose=False, dt=None, truncate=False):
# Set up the full problem # Create matrix of (shifted) inputs UUT = np.zeros((p*m,(l))) UUT = np.zeros((p*m, l)) for i in range(m): # Shift previous column down and keep zeros at the top UUT[i*p:(i+1)*p,i:] = Umat[:,:l-i] UUT[i*p:(i+1)*p, i:] = Umat[:, :l-i]
# Truncate first t=0 or t=m time steps, transpose the problem for lsq YY = Ymat[:,t:].T UU = UUT[:,t:].T YY = Ymat[:, t:].T UU = UUT[:, t:].T
# Solve for the Markov parameters from YY = UU @ H.T HT, _, _, _ = np.linalg.lstsq(UU, YY, rcond=None) H = HT.T/dt # scaling
H = H.reshape(q,m,p) # output, time*input -> output, time, input H = H.transpose(0,2,1) # output, input, time H = H.reshape(q, m, p) # output, time*input -> output, time, input H = H.transpose(0, 2, 1) # output, input, time
# for siso return a 1D array instead of a 3D array if q == 1 and p == 1: Expand Down
# Set up the full problem # Create matrix of (shifted) inputs UUT = np.zeros((p*m,(l))) UUT = np.zeros((p*m, l)) for i in range(m): # Shift previous column down and keep zeros at the top UUT[i*p:(i+1)*p,i:] = Umat[:,:l-i] UUT[i*p:(i+1)*p, i:] = Umat[:, :l-i]
# Truncate first t=0 or t=m time steps, transpose the problem for lsq YY = Ymat[:,t:].T UU = UUT[:,t:].T YY = Ymat[:, t:].T UU = UUT[:, t:].T
# Solve for the Markov parameters from YY = UU @ H.T HT, _, _, _ = np.linalg.lstsq(UU, YY, rcond=None) H = HT.T/dt # scaling
H = H.reshape(q,m,p) # output, time*input -> output, time, input H = H.transpose(0,2,1) # output, input, time H = H.reshape(q, m, p) # output, time*input -> output, time, input H = H.transpose(0, 2, 1) # output, input, time
# for siso return a 1D array instead of a 3D array if q == 1 and p == 1: Expand Down