8000 refactor system classes (frdata, iosys, namedio, statesp, xferfcn) · python-control/python-control@e2f76df · GitHub
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murrayrmmurrayrm
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refactor system classes (frdata, iosys, namedio, statesp, xferfcn)
* LTI is NamedIOSystem instead of StateSpace, TransferFunction, and FRD * implement _process_namedio_keywords and use for system/signal name, dt * move timebase functions from lti to namedio * move statesp/_ss code to iosys/ss and iosys/copy to namedio/copy * clean up duplicate object/sysname warnings * updated unit tests
1 parent 2264c76 commit e2f76df

33 files changed

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-928
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‎control/__init__.py

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@@ -55,6 +55,7 @@
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from .margins import *
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from .mateqn import *
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from .modelsimp import *
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from .namedio import *
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from .nichols import *
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from .phaseplot import *
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from .pzmap import *

‎control/canonical.py

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# RMM, 10 Nov 2012
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from .exception import ControlNotImplemented, ControlSlycot
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from .lti import issiso
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from .namedio import issiso
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from .statesp import StateSpace, _convert_to_statespace
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from .statefbk import ctrb, obsv
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‎control/dtime.py

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"""
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from .lti import isctime
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from .namedio import isctime
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from .statesp import StateSpace
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__all__ = ['sample_system', 'c2d']

‎control/frdata.py

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@@ -54,13 +54,13 @@
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from .lti import LTI, _process_frequency_response
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from .exception import pandas_check
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from .namedio import _NamedIOSystem
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from .namedio import NamedIOSystem, _process_namedio_keywords
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from . import config
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__all__ = ['FrequencyResponseData', 'FRD', 'frd']
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class FrequencyResponseData(LTI, _NamedIOSystem):
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class FrequencyResponseData(LTI):
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"""FrequencyResponseData(d, w[, smooth])
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A class for models defined by frequency response data (FRD).
@@ -117,7 +117,7 @@ class FrequencyResponseData(LTI, _NamedIOSystem):
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# Allow NDarray * StateSpace to give StateSpace._rmul_() priority
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# https://docs.scipy.org/doc/numpy/reference/arrays.classes.html
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__array_priority__ = 11 # override ndarray and matrix types
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__array_priority__ = 13 # override ndarray, StateSpace, I/O sys
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#
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# Class attributes
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# TODO: discrete-time FRD systems?
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smooth = kwargs.pop('smooth', False)
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#
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# Process positional arguments
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#
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if len(args) == 2:
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if not isinstance(args[0], FRD) and isinstance(args[0], LTI):
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# not an FRD, but still a system, second argument should be
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raise ValueError(
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"Needs 1 or 2 arguments; received %i." % len(args))
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# Set the size of the system
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self.noutputs = self.fresp.shape[0]
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self.ninputs = self.fresp.shape[1]
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# Process signal names
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_NamedIOSystem.__init__(
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self, name=kwargs.pop('name', None),
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inputs=kwargs.pop('inputs', self.ninputs),
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outputs=kwargs.pop('outputs', self.noutputs))
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#
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# Process key word arguments
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#
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# Keep track of return type
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self.return_magphase=kwargs.pop('return_magphase', False)
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if self.return_magphase not in (True, False):
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raise ValueError("unknown return_magphase value")
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# Determine whether to squeeze the output
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self.squeeze=kwargs.pop('squeeze', None)
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if self.squeeze not in (None, True, False):
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raise ValueError("unknown squeeze value")
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# Make sure there were no extraneous keywords
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if kwargs:
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raise TypeError("unrecognized keywords: ", str(kwargs))
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# Process namedio keywords
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defaults = {
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'inputs': self.fresp.shape[1], 'outputs': self.fresp.shape[0]}
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name, inputs, outputs, states, dt = _process_namedio_keywords(
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kwargs, defaults, end=True)
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# Process signal names
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NamedIOSystem.__init__(
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self, name=name, inputs=inputs, outputs=outputs, dt=dt)
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# create interpolation functions
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if smooth:
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w=1.0/(absolute(self.fresp[i, j, :]) + 0.001), s=0.0)
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else:
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self.ifunc = None
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super().__init__(self.fresp.shape[1], self.fresp.shape[0])
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#
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# Frequency response properties
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# FrequenceResponseData and then assigning FRD to point to the same object
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# fixes this problem.
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#
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FRD = FrequencyResponseData
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