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Python Control Systems Library

The Python Control Systems Library is a Python module that implements basic operations for analysis and design of feedback control systems.

Features

Linear input/output systems in state-space and frequency domain
Block diagram algebra: serial, parallel, and feedback interconnections
Time response: initial, step, impulse
Frequency response: Bode and Nyquist plots
Control analysis: stability, reachability, observability, stability margins
Control design: eigenvalue placement, linear quadratic regulator
Estimator design: linear quadratic estimator (Kalman filter)

Dependencies

The package requires numpy, scipy, and matplotlib. In addition, some routines use a module called slycot, that is a Python wrapper around some FORTRAN routines. Many parts of python-control will work without slycot, but some functionality is limited or absent, and installation of slycot is recommended (see below). Note that in order to install slycot, you will need a FORTRAN compiler on your machine. The Slycot wrapper can be found at:

https://github.com/python-control/Slycot

Installation

Conda and conda-forge

The easiest way to get started with the Control Systems library is using Conda.

The Control Systems library has been packages for the conda-forge Conda channel, and as of Slycot version 0.3.4, binaries for that package are available for 64-bit Windows, OSX, and Linux.

To install both the Control Systems library and Slycot in an existing conda environment, run:

conda install -c conda-forge control slycot

Pip

To install using pip:

pip install slycot   # optional; see below
pip install control

If you install Slycot using pip you'll need a development environment (e.g., Python development files, C and Fortran compilers).

Distutils

To install in your home directory, use:

python setup.py install --user

To install for all users (on Linux or Mac OS):

python setup.py build
sudo python setup.py install

Development

Code

You can check out the latest version of the source code with the command:

git clone https://github.com/python-control/python-control.git

Testing

You can run the unit tests with pytest to make sure that everything is working correctly. Inside the source directory, run:

pytest -v

or to test the installed package:

pytest --pyargs control -v

License

This is free software released under the terms of the BSD 3-Clause License. There is no warranty; not even for merchantability or fitness for a particular purpose. Consult LICENSE for copying conditions.

When code is modified or re-distributed, the LICENSE file should accompany the code or any subset of it, however small. As an alternative, the LICENSE text can be copied within files, if so desired.

Contributing

Your contributions are welcome! Simply fork the GitHub repository and send a pull request.