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‎ChangeLog

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---- control-0.5a released -----
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2011-08-07 Richard Murray <murray@malabar.local>
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* setup.py: updated version number; next release will be 0.5a since
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the changes in function names and argument/return value order (for
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time reponses) require small updates in code
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* examples/secord-matlab.py, examples/pvtol-nested-ss.py,
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examples/test-response.py, examples/pvtol-nested.py: fixed small bug
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in order of output arguments for step command
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2011-08-06 Richard Murray <murray@malabar.local>
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* src/matlab.py (ngrid): copy documentation from nichols_grid
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* src/__init__.py: changed import commands to import specific
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functions rather than '*' (better modularity)
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* src/freqplot.py: default function names are now bode_plot,
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nyquist_plot and gangof4_plot (still with aliases to non-"_plot"
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versions)
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* src/nichols.py (nichols_plot): updated nichols to nichols_plot for
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consistency with other python-control plotting functions. Set up
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alias for original name
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* src/margins.py: StabilityMargins, PhaseCrossoverFrequencies ->
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stability_margins, phase_crossover_frequencies
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* src/phaseplot.py: changed PhasePlot and boxgrid to phase_plot,
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box_grid
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* src/timeresp.py: changed ForcedReponse, InitialReponse,
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ImpulseReponse and StepResponse to forced_response,
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initial_response, impulse_response and step_response.
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* src/rlocus.py: changed RootLocus to root_locus for better
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compatability with PEP 8. Also updated unit tests and examples.
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2011-07-25 Richard Murray <murray@malabar.local>
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* tests/phaseplot_test.py: updated unit tests to use new call
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signatures
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* examples/phaseplots.py: updated calls to PhasePlot to use new
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argument structure
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* src/phaseplot.py (PhasePlot): Updated call signature to be
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more pythonic and fixed up documentation.
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* examples/genswitch.py (genswitch): added new example showing
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PhasePlot functionality
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* src/phaseplot.py (boxgrid): added function to compute initial
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conditions around the edges of a box
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2011-07-24 Richard Murray <murray@malabar.local>
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* tests/margin_test.py: added simple unit tests for margin functions
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(initial versions just call functions; some comparisons missing)
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* examples/README: added missing README file
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* examples/phaseplots.py: FBS examples for phaseplot
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* tests/phaseplot_test.py: unit tests for phaseplot
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* src/phaseplot.py: initial cut at phase portrait function, built
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from amphaseplot (Feeback Systems [FBS], Astrom and Murray, 2008)
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2011-07-15 Richard Murray <murray@malabar.local>
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* tests/matlab_test.py (TestMatlab): added unittest for margin()
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commands (calling format only)
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* src/statesp.py (StateSpace): updated comments
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* tests/margin_test.py: set up unit tests for StabilityMargins() and
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PhaseCrossoverFrequencies()
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* src/__init__.py: added margins.py to __init__
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2011-07-14 Richard Murray <murray@malabar.local>
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* src/margins.py (GainPhaseMargin): moved freqplot.MarginPlot to
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margin.StabilityMargins (MarginPlot didn't actually plot anything)
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* src/margins.py (PhaseCrossoverFrequencies): added new function to
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compute frequencies that we cross real axis. Contributed by Steffen
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Waldherr <waldherr@ist.uni-stuttgart.de>
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2011-07-11 Richard Murray <murray@malabar.local>
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* src/rlocus.py: added real() and imag() to list of functions
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imported from numpy
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* src/freqplot.py: renamed plotting functions to BodePlot,
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NyquistPlot, GangOf4Plot and MarginPlot. Set up aliases to the more
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common names (bode, nyquest, gangof4, margin). Mainly playing
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around with idea for the eventual interface to use.
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* tests/matlab_test.py: updated timeresp outputs to match MATLAB
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* src/matlab.py (impulse, initial, lsim, step): switched outputs
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from step, impulse, initial, lsim to match MATLAB standard
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2011-07-01 Richard Murray <murray@malabar.local>
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* src/rlocus.py: modified scipy import to only import those
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functions that we actually use. This fixes a problem pointed out by
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Carsten Knoll (TU Dresden) where control.place could be overwritten
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by numpy.place (because of an "from scipy import *" in rlocus.py
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* doc/intro.rst: Added link to scipy web page talking about the
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differences between numpy and MATLAB (contributed by Shuo Han).
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2011-06-25 Richard Murray <murray@malabar.local>
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* src/xferfcn.py (TransferFunction._common_den): changed tolerance
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for detecting complex valued poles to a user-settable parameter,
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with default value 1e-8. This was an attempt to fix errors in the
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convert_test.py unittest script (conversion routine was
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misclassifying some poles as imaginary when they weren't).
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* src/xferfcn.py (_convertToTransferFunction): converted arguments
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to tb04ad to numpy arrays; fixes a unit test error in convert_test.py.
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* src/statefbk.py (gram): convert system matrix passed to sb03md to
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numpy array; this fixes a unit test error in modelsimp_test.py.
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* src/matlab.py (impulse): got rid of X0 argument for impulse
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response (not implemented in MATLAB).
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* doc/intro.rst: added some quick start information
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* src/matlab.py: added documentation for step, impulse, initial, lsim
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* src/timeresp.py: fixed some MATLAB specific function names in
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function doc strings
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2011-06-22 Richard Murray <murray@malabar.local>
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* doc/intro.rst: fixed some small types
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* doc/control.tex: removed (no longer needed)
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2011-06-22 Richard Murray <murray@malabar.local>
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* doc/intro.rst: Added a slightly more general introduction, with a
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pointer to the python-control wiki (on sf.net)
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* doc/Makefile: Changed path to sphinx-build to assume it is in the
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users path (as opposed to an explicit path)
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* doc/conf.py: Added release information into documentation file
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2011-06-21 Richard Murray <murray@malabar.local>
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* src/statesp.py (_mimo2siso): Moved function from matlab.py.
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* src/timeresp.py: added file documentation + split out and updated
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copyright info. Small corrections to documentation.
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(InitialResponse): Added missing transpose argument in call to
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ForcedResponse
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* src/matlab.py: minor changes to documentation to avoid line wraps
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on standard (80 col) terminal window
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* src/matlab.py: removed time-series convention documentation from
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matlab.py since current MATLAB version uses standard conventions.
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This documentation is currently in timeresp.py.
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* src/*, doc/*: added Eike Welk's documentation modifications
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2011-06-18 Richard Murray <murray@malabar.local>
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* src/timeresp.py, src/matlab.py: moved documentation about time

‎doc/Makefile

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# You can set these variables from the command line.
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SPHINXOPTS =
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SPHINXBUILD = /Applications/Sphinx-1.0.6/sphinx-build.py
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SPHINXBUILD = sphinx-build
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PAPER =
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BUILDDIR = _build
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‎doc/README

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4. >> touch *.rst
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>> make html [or make latex]
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Creating/updating manual on sourceforge:
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5. >> rsync -rav _build/html/ user@shell.sourceforge.net:/home/project-web/python-control/htdocs/manual-N.mx/
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‎doc/conf.py

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sys.path.insert(0, os.path.abspath('.'))
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sys.path.append(os.path.abspath('../src'))
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# -- General configuration -----------------------------------------------------
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# If your documentation needs a minimal Sphinx version, state it here.
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#needs_sphinx = '1.0'
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# Add any Sphinx extension module names here, as strings. They can be extensions
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# coming with Sphinx (named 'sphinx.ext.*') or your custom ones.
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# Additional interesting extensions:
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# ``sphinx.ext.autosummary`` : Generate function/method/attribute summary
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# lists
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# ``sphinx.ext.extlinks`` : Shorten external links
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# ``sphinx.ext.viewcode`` : Include highlighted source code in the
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# documentation
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extensions = ['sphinx.ext.autodoc', 'numpydoc', 'sphinx.ext.pngmath',
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'sphinx.ext.intersphinx']
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'sphinx.ext.intersphinx', 'sphinx.ext.todo']
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# Add any paths that contain templates here, relative to this directory.
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templates_path = ['_templates']
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# built documents.
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#
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# The short X.Y version.
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version = '0.0'
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version = '0.4d'
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# The full version, including alpha/beta/rc tags.
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release = '0.0'
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release = '0.4d'
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# The language for content autogenerated by Sphinx. Refer to documentation
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# for a list of supported languages.
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#This config value contains the locations and names of other projects that
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#should be linked to in this documentation.
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intersphinx_mapping = {'scipy':('http://docs.scipy.org/doc/scipy/reference/', None)}
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intersphinx_mapping = \
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{'scipy':('http://docs.scipy.org/doc/scipy/reference/', None),
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'numpy':('http://docs.scipy.org/doc/numpy/reference/', None)}
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#If this is True, tod 10000 o and todolist produce output, else they produce nothing.
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#The default is False.
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todo_include_todos = True
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# -- Options for HTML output ---------------------------------------------------

‎doc/control.tex

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‎doc/index.rst

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* :ref:`modindex`
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* :ref:`search`
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----------------------------------
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.. todolist::

‎doc/intro.rst

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============
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Welcome to the Python-Control project.
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This is sample documentation and will include our Princeton University APC524 contribution.
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We can incorporate any existing documentation as well. For example from R.Murray's earlier tex document:
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The python-control package is a set of python classes and functions
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that implement common operations for the analysis and design of
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feedback control systems. The initial goal is to implement all of the
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functionality required to work through the examples in the textbook
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Feedback Systems by Astrom and Murray. A MATLAB compatibility package
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(control.matlab) is available that provides many of the common
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functions corresponding to commands available in the MATLAB Control
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Systems Toolbox.
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Differences from MATLAB
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-----------------------
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* You must include commas in vectors. So [1 2 3] must be [1, 2, 3].
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* Functions that return multiple arguments use tuples
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* Can't use braces for collections; use tuples instead
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* Transfer functions are only implemented for SISO systems (due to limitations in the underlying signals.lti class); use state space representations for MIMO systems.
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In addition to the documentation here, there is a project wiki that
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contains some additional information about how to use the package
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(including some detailed worked examples):
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http://python-control.sourceforge.net
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Some Differences from MATLAB
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----------------------------
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The python-control package makes use of NumPy and SciPy. A list of
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general differences between NumPy and MATLAB can be found here:
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http://www.scipy.org/NumPy_for_Matlab_Users
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In terms of the python-control package more specifically, here are
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some thing to keep in mind:
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* You must include commas in vectors. So [1 2 3] must be [1, 2, 3].
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* Functions that return multiple arguments use tuples
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* Can't use braces for collections; use tuples instead
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* Transfer functions are only implemented for SISO systems (due to
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limitations in the underlying signals.lti class); use state space
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representations for MIMO systems.
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Getting Started
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---------------
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1. Download latest release from http://sf.net/projects/python-control/files.
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2. Untar the source code in a temporary directory and run 'python setup.py
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install' to build and install the code
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3. To see if things are working correctly, run ipython -pylab and run the
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script 'examples/secord-matlab.py'. This should generate a set response,
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Bode plot and Nyquist plot for a simple second order system.
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4. To see the commands that are available, run the following commands in
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ipython::
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>>> import control
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>>> ?control.matlab
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5. If you want to have a MATLAB-like environment for running the control
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toolbox, use::
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>>> from control.matlab import *

‎doc/matlab_strings.rst

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The Matlab Module
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=================
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.. automodule:: matlab
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:members:
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:members:
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.. todo::
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The following functions should be documented in their own modules!
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This is only a temporary solution.
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.. autofunction:: pzmap.pzmap
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.. autofunction:: freqplot.nyquist
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.. autofunction:: nichols.nichols
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.. autofunction:: statefbk.place
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.. autofunction:: statefbk.lqr
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.. autofunction:: statefbk.ctrb
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.. autofunction:: statefbk.obsv
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.. autofunction:: statefbk.gram
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.. autofunction:: delay.pade
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.. autofunction:: freqplot.gangof4
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.. autofunction:: ctrlutil.unwrap
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.. autofunction:: mateqn.lyap
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.. autofunction:: mateqn.dlyap
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.. autofunction:: mateqn.care
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.. autofunction:: mateqn.dare

‎examples/README

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This directory contains worked examples using the python-control
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library. Each example should work by running 'ipython -pylab' and
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then running the given file (make sure to have the python-control
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module in your path).

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