Expand Up @@ -1098,40 +1098,48 @@ def _convertToTransferFunction(sys, **kw):
return sys elif isinstance(sys, StateSpace): try: from slycot import tb04ad if len(kw): raise TypeError( "If sys is a StateSpace, " + "_convertToTransferFunction cannot take keywords.")
# Use Slycot to make the transformation # Make sure to convert system matrices to numpy arrays tfout = tb04ad(sys.states, sys.inputs, sys.outputs, array(sys.A), array(sys.B), array(sys.C), array(sys.D), tol1=0.0)
# Preallocate outputs. num = [[[] for j in range(sys.inputs)] for i in range(sys.outputs)] den = [[[] for j in range(sys.inputs)] for i in range(sys.outputs)]
for i in range(sys.outputs): for j in range(sys.inputs): num[i][j] = list(tfout[6][i, j, :]) # Each transfer function matrix row # has a common denominator. den[i][j] = list(tfout[5][i, :]) # print(num) # print(den) except ImportError: # If slycot is not available, use signal.lti (SISO only) if (sys.inputs != 1 or sys.outputs != 1): raise TypeError("No support for MIMO without slycot")
lti_sys = lti(sys.A, sys.B, sys.C, sys.D) num = squeeze(lti_sys.num) den = squeeze(lti_sys.den) # print(num) # print(den)
if 0==sys.states: # Slycot doesn't like static SS->TF conversion, so handle # it first. Can't join this with the no-Slycot branch, # since that doesn't handle general MIMO systems num = [[[sys.D[i,j]] for j in range(sys.inputs)] for i in range(sys.outputs)] den = [[[1.] for j in range(sys.inputs)] for i in range(sys.outputs)] else: try: from slycot import tb04ad if len(kw): raise TypeError( "If sys is a StateSpace, " + "_convertToTransferFunction cannot take keywords.")
# Use Slycot to make the transformation # Make sure to convert system matrices to numpy arrays tfout = tb04ad(sys.states, sys.inputs, sys.outputs, array(sys.A), array(sys.B), array(sys.C), array(sys.D), tol1=0.0)
# Preallocate outputs. num = [[[] for j in range(sys.inputs)] for i in range(sys.outputs)] den = [[[] for j in range(sys.inputs)] for i in range(sys.outputs)]
for i in range(sys.outputs): for j in range(sys.inputs): num[i][j] = list(tfout[6][i, j, :]) # Each transfer function matrix row # has a common denominator. den[i][j] = list(tfout[5][i, :]) # print(num) # print(den) except ImportError: # If slycot is not available, use signal.lti (SISO only) if (sys.inputs != 1 or sys.outputs != 1): raise TypeError("No support for MIMO without slycot")
lti_sys = lti(sys.A, sys.B, sys.C, sys.D) num = squeeze(lti_sys.num) den = squeeze(lti_sys.den) # print(num) # print(den)
return TransferFunction(num, den, sys.dt)
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