2012-10-07 Richard Murray <murray@altura.local>

* src/matlab.py (c2d): MATLAB compatible function (just calls

sample_system)

* tests/discrete_test.py (TestDiscrete.test_sample_system): unit

test for sampling

* src/dtime.py (sample_system, _c2dmatched): new functions, based on

contributiosn from Benjamin White

* src/dtime.py: added back this file, this time with sampling routes

to convert from continuous to discrete time

* src/timeresp.py (forced_response): added discrete time simulator,

using dlsim from scipy.signal

2012-10-07 Richard Murray <murray@altura.local>

* doc/conf.py: fixed release number (0.6a instead of 0.6c)

* src/__init__.py: moved timebase functions from dtime to lti

* src/lti.py: moved isdtime, isctime, timebase, and timebaseEqual

from dtime.py to lti.py. Moved initialization of dt to

Lti.__init__().

* src/statesp.py (StateSpace.__init__): Moved dt

initialization to Lti object initialization

* src/xferfcn.py (TransferFunction.__init__): Moved dt

initialization to Lti object initialization

2012-10-06 Richard Murray <murray@altura.local>

* tests/discrete_test.py: added additional tests for dt = True cases

* src/statesp.py (StateSpace.__str__): show sampling time as

'unspecified' if dt is a boolean and equal to True

* src/xferfcn.py (TransferFunction.__str__): don't print sampling

time (dt) if dt = True (discrete time with unspecified time base)

* src/dtime.py: added code to support dt = True for unspecified

sampling time for a discrete time system

* src/bdalg.py: much -> must in docstrings

2012-10-06 Richard Murray <murray@altura.local>

* src/dtime.py: new module with functions for operating on discrete

time systems

* src/modelsimp.py: added NotImplementedError for discrete time

* src/freqplot.py: added NotImplementedError for discrete time

* src/bdalg.py: added documentation about timebases (discrete versus

continuous)

* src/statesp.py (_mimo2siso): include sampling time

* src/xferfcn.py (TransferFunction.__str__): added optional var

keyword to allow any symbol to be used

* src/matlab.py (tf2ss): added code required to keep track of dt

* src/xferfcn.py (TransferFunction.__str__): added additional string for

discrete time system, plus use 'z' for polynomial variable

(TransferFunction.__neg__): set sampling time for negation

(TransferFunction.__add__): added test for same sampling time

(TransferFunction.__mul__): added test for same sampling time

(TransferFunction.__div__): added test for same sampling time

(TransferFunction.feedback): added test for same sampling time

* src/statesp.py (StateSpace.__str__): added additional string for

discrete time system

(StateSpace.__add__): added test for same sampling time

(StateSpace.__mul__): added test for same sampling time

(StateSpace.__rmul__): set sampling time for product

(StateSpace.__neg__): set sampling time for negation

(StateSpace.feedback): added test for same sampling time

* tests/discrete_test.py (TestDiscrete): unit tests for discrete

time systems

* src/xferfcn.py (TransferFunction.__init__): added dt class

variable for discrete time systems

* src/statesp.py (StateSpace.__init__): added dt class variable for

discrete time systems

---- control-0.5c released -----

2012-10-03 Richard Murray <murray@altura.local>

* tests/matlab_test.py (TestMatlab.testSsdata): unit test

* src/matlab.py (ssdata, tfdata): new functions to return state

space and transfer function object data. For transfer functions,

currenly requires SISO system

* src/freqplot.py (bode_plot): Adding np.atleast_1d to the

np.squeeze calculations makes it possible to use a single value

frequency list (contributed by Benjamin White)

2012-09-09 Richard Murray <murray@altura.local>

* tests/statefbk_test.py (TestStatefbk.testAcker): unit test

* src/statefbk.py (acker): added acker() from Roberto Bucher.

2012-08-29 Richard Murray <murray@altura.local>

* src/xferfcn.py (TransferFunction._common_den): fixed up code for

case where poles have multiplicity > 1. Set end limits of check to

avoid overruning the list + combine complex conjugate pole pairs

from the outside in to prevent small errors from growing.

2012-08-26 Richard Murray <murray@altura.local>

* tests/convert_test.py (TestConvert.testConvert): replaced previous

test of transfer function coefficients with a frequency response

test. This is necessary because various degenerate conditions will

generate a situation where the transfer functions are of different

forms but still equal. Eg 0/1 = 1e-17 s + 1e-16 / (s^2 + s + 1).

Still getting errors, but looks like actual problem in conversion.

* src/statesp.py (_mimo2siso): set default value for warn_conversion

to False

* tests/convert_test.py (TestConvert.testConvert): Added check to

make sure that we don't create problems with uncontrollable or

unobservable systems.

2012-08-25 Richard Murray <murray@altura.local>

* src/xferfcn.py (TransferFunction._common_den): identified bug in

the way that common denominators are computed; see comments in code

regarding complex conjugate pairs.

* src/statefbk.py (place): repalced nd.size(placed_eigs) with

len(placed_eigs) to fix intermittent problems pointed out by Roberto

Bucher in control-0.3c.

* tests/rlocus_test.py (TestRootLocus.testRootLocus): added sort()

to test to get rid of problems in which ordering was generating an

error.

* src/freqplot.py (nyquist_plot): added code from Kevin Davies to

label frequency points in Nyquist plot

* src/__init__.py: import non-conflicting MATLAB functions by default

* src/freqplot.py (bode_plot, nyquist_plot): simplified code and

removed unneeded options. To set color, linestyle, etc use keywords

and pass to matplotlib.

2012-08-24 Richard Murray <murray@altura.local>

* src/freqplot.py: added in plot enhancements from Kevin Davies

(bode_plot): pass optional arguments and keywords to matplotlib

(get_pow1000): new function for determinine engineering exponent

(gen_prefix): new function to get SI prefix for power of 1000

* src/freqplot.py (bode_plot): removed extraneous phase_deg calculation

2012-01-07 Richard Murray <murray@malabar.local>

* doc/modules.rst: added new sections for analysis, synthesis,

frequency plots and time response.

* doc/index.rst (Contents): added modules and examples.

* src/xferfcn.py (_convertToTransferFunction): added check for

slycot import error. If not present, use signal.lti to perform the

conversion. Only works for SISO.

* src/statesp.py (_convertToStateSpace): added check for slycot

import error, to allow basic functionality without the presence of

slycot (contributed by Ryan Krauss).

* tests/slycot_convert_test.py (TestSlycot.testTF): moved slycot

import into test function, so that test script still works even if

time response is not present.

2011-08-09 Richard Murray <murray@malabar.local>

* src/timeresp.py: fixed doc reference to time-series-convention

2011-08-08 Richard Murray <murray@malabar.local>

* doc/index.rst, doc/modules.rst: Moved MATLAB section into

python-control modules file

2011-08-07 Richard Murray <murray@malabar.local>

* doc/conf.py: added autosummary extension

* doc/timeresp.rst: New file containing listing of functions for

time responses (step, initial, etc)

* doc/freqplot.rst: New file listing functions for frequency

plots (bode, nyquist, etc)

* doc/modules.rst: New file that contains a listing of the major

modules in the toolbox

* doc/index.rst (Contents): Rearranged contents to put modules

documentation in a separate section. Also added examples section

(not quite ready yet).

2011-08-07 Richard Murray <murray@malabar.local>

* examples/rss-balred.py: reordered outputs from call to matlab.step

(missed this the first time around)

* doc/matlab_strings.rst: Matlab -> MATLAB (proper spelling)

* setup.py, doc/conf.py: updated version to 0.5b

2011-08-07 Richard Murray <murray@malabar.local>

* doc/conf.py: Updated version numbers to 0.5a, regenerated

documentation and reposted on web (note that 0.5a tag and source

distribution have this wrong)

---- control-0.5a released -----

2011-08-07 Richard Murray <murray@malabar.local>

* setup.py: updated version number; next release will be 0.5a since

the changes in function names and argument/return value order (for

time reponses) require small updates in code

* examples/secord-matlab.py, examples/pvtol-nested-ss.py,

examples/test-response.py, examples/pvtol-nested.py: fixed small bug

in order of output arguments for step command

2011-08-06 Richard Murray <murray@malabar.local>

* src/matlab.py (ngrid): copy documentation from nichols_grid

* src/__init__.py: changed import commands to import specific

functions rather than '*' (better modularity)

* src/freqplot.py: default function names are now bode_plot,

nyquist_plot and gangof4_plot (still with aliases to non-"_plot"

versions)

* src/nichols.py (nichols_plot): updated nichols to nichols_plot for

consistency with other python-control plotting functions. Set up

alias for original name

* src/margins.py: StabilityMargins, PhaseCrossoverFrequencies ->

stability_margins, phase_crossover_frequencies

* src/phaseplot.py: changed PhasePlot and boxgrid to phase_plot,

box_grid

* src/timeresp.py: changed ForcedReponse, InitialReponse,

ImpulseReponse and StepResponse to forced_response,

initial_response, impulse_response and step_response.

* src/rlocus.py: changed RootLocus to root_locus for better

compatability with PEP 8. Also updated unit tests and examples.

2011-07-25 Richard Murray <murray@malabar.local>

* tests/phaseplot_test.py: updated unit tests to use new call

signatures

* examples/phaseplots.py: updated calls to PhasePlot to use new

argument structure

* src/phaseplot.py (PhasePlot): Updated call signature to be

more pythonic and fixed up documentation.

* examples/genswitch.py (genswitch): added new example showing

PhasePlot functionality

* src/phaseplot.py (boxgrid): added function to compute initial

conditions around the edges of a box

2011-07-24 Richard Murray <murray@malabar.local>

* tests/margin_test.py: added simple unit tests for margin functions

(initial versions just call functions; some comparisons missing)

* examples/README: added missing README file

* examples/phaseplots.py: FBS examples for phaseplot

* tests/phaseplot_test.py: unit tests for phaseplot

* src/phaseplot.py: initial cut at phase portrait function, built

from amphaseplot (Feeback Systems [FBS], Astrom and Murray, 2008)

2011-07-15 Richard Murray <murray@malabar.local>

* tests/matlab_test.py (TestMatlab): added unittest for margin()

commands (calling format only)

* src/statesp.py (StateSpace): updated comments

* tests/margin_test.py: set up unit tests for StabilityMargins() and

PhaseCrossoverFrequencies()

* src/__init__.py: added margins.py to __init__

2011-07-14 Richard Murray <murray@malabar.local>

* src/margins.py (GainPhaseMargin): moved freqplot.MarginPlot to

margin.StabilityMargins (MarginPlot didn't actually plot anything)

* src/margins.py (PhaseCrossoverFrequencies): added new function to

compute frequencies that we cross real axis. Contributed by Steffen

Waldherr <waldherr@ist.uni-stuttgart.de>

2011-07-11 Richard Murray <murray@malabar.local>

* src/rlocus.py: added real() and imag() to list of functions

imported from numpy

* src/freqplot.py: renamed plotting functions to BodePlot,

NyquistPlot, GangOf4Plot and MarginPlot. Set up aliases to the more

common names (bode, nyquest, gangof4, margin). Mainly playing

around with idea for the eventual interface to use.

* tests/matlab_test.py: updated timeresp outputs to match MATLAB

* src/matlab.py (impulse, initial, lsim, step): switched outputs

from step, impulse, initial, lsim to match MATLAB standard

2011-07-01 Richard Murray <murray@malabar.local>

* src/rlocus.py: modified scipy import to only import those

functions that we actually use. This fixes a problem pointed out by

Carsten Knoll (TU Dresden) where control.place could be overwritten

by numpy.place (because of an "from scipy import *" in rlocus.py

* doc/intro.rst: Added link to scipy web page talking about the

differences between numpy and MATLAB (contributed by Shuo Han).

2011-06-25 Richard Murray <murray@malabar.local>

* src/xferfcn.py (TransferFunction._common_den): changed tolerance

for detecting complex valued poles to a user-settable parameter,

with default value 1e-8. This was an attempt to fix errors in the

convert_test.py unittest script (conversion routine was

misclassifying some poles as imaginary when they weren't).

* src/xferfcn.py (_convertToTransferFunction): converted arguments

to tb04ad to numpy arrays; fixes a unit test error in convert_test.py.

* src/statefbk.py (gram): convert system matrix passed to sb03md to

numpy array; this fixes a unit test error in modelsimp_test.py.

* src/matlab.py (impulse): got rid of X0 argument for impulse

response (not implemented in MATLAB).

* doc/intro.rst: added some quick start information

* src/matlab.py: added documentation for step, impulse, initial, lsim

* src/timeresp.py: fixed some MATLAB specific function names in

function doc strings

2011-06-22 Richard Murray <murray@malabar.local>

* doc/intro.rst: fixed some small types

* doc/control.tex: removed (no longer needed)

2011-06-22 Richard Murray <murray@malabar.local>

* doc/intro.rst: Added a slightly more general introduction, with a

pointer to the python-control wiki (on sf.net)

* doc/Makefile: Changed path to sphinx-build to assume it is in the

users path (as opposed to an explicit path)

* doc/conf.py: Added release information into documentation file

2011-06-21 Richard Murray <murray@malabar.local>

* src/statesp.py (_mimo2siso): Moved function from matlab.py.

* src/timeresp.py: added file documentation + split out and updated

copyright info. Small corrections to documentation.

(InitialResponse): Added missing transpose argument in call to

ForcedResponse

* src/matlab.py: minor changes to documentation to avoid line wraps

on standard (80 col) terminal window

* src/matlab.py: removed time-series convention documentation from

matlab.py since current MATLAB version uses standard conventions.

This documentation is currently in timeresp.py.

* src/*, doc/*: added Eike Welk's documentation modifications

2011-06-18 Richard Murray <murray@malabar.local>

* src/timeresp.py, src/matlab.py: moved documentation about time

series convention from matlab.py to timeresp.py

* examples/pvtol-nested-ss.py: Fixed bug in call to step (wrong

second argument)

* tests/matlab_test.py: Updated tests to use MATLAB time response

conventions.

* tests/timeresp_test.py: Created unit tests for timeresp module,

based on matlab_test.py

2011-06-17 Richard Murray <murray@malabar.local>

* src/timeresp.py (ForcedResponse): swapped order of input and time

arguments for linear response, following Eike's comment "T must

always be supplied by the user, but U has a useful default value of

0."

* src/matlab.py: moved code for lsim, initial, step, and impulse to

timeresp.py and put in new routes that call timeresp.* versions of

the functions with transposeData set to True.

* src/timesim.py (_check_convert_array): added transpose argument

that will transpose input data before processing it.

* src/timesim.py: renamed lsim, initial, step, and impulse functions

to ForcedResponse, InitialResponse, StepResponse and

ImpulseResponse. These versions use Eike Welk's input ordering.

* examples/pvtol-nested.py: calls to step() had screwed up inputs.

Fixed.

2011-06-17 Richard Murray <murray@malabar.local>

* src/matlab.py: added MIMO extensions from Eike Welk on 12 Jun

2011: adds MIMO capabilities for ``lsim``, ``step``, ``impulse``,

``initial``

* src/matlab.py: added changes from Eike Welk on 12 May 2011:

- An implementation of the four simulation functions ``lsim``,

``step``, ``initial``, and ``impulse`` of the module ``matlab``.

- Adds a function ``dcgain`` to the ``matlab`` module, which

computes the gain of a linear system for steady state and

constant input.

- The patch contains a bug fix for class ``StateSpace``, which

enables it to work properly together with Scipy's ``signal``

module.

- The simulation functions' return values are changed (back?) to

arrays, because matrices confuse Matplotlib.

- New times series convention: see _time-series-convention section

of matlab documentation

- SISO simulation data are squeezed on output. To turn this off,

pass the option squeeze=False

---- control-0.4c released -----

2011-06-17 Richard Murray <murray@dhcp096.fhl.washington.edu>

* examples/tfvis.py: Added tfvis, Simple GUI application for

visualizing how the poles/zeros of the transfer function effects the

bode, nyquist and step response of a SISO system. Contributed by

Vanessa Romero Segovia, Ola Johnsson, Jerker Nordh.

2011-06-16 Richard Murray <murray@malabar.local>

* src/matlab.py: import mateqn functions

* src/__init__.py: import mateqn functions

* tests/test_all.py: added unit tests for matrix solvers, converting

to standard format along the way. Seems to work even if slycot

routines are not in place, but I'm not sure if this is for the right

reasons...

* src/mateqn.py: added matrix solvers from LTH (Ola Johnsson, Jerker

Nordh, Bjorn Olofsson, Vanessa Romero). Moved slycot function

checks to the portion of the code where they are used, so that

missing slycot doesn't mess up initialization if proper version of

slycot is not available.

2011-04-02 Richard Murray <murray@malabar.local>

* src/xferfcn.py (TransferFunction.__add__): fixed bug when adding a

transfer function to state space system; _convertToTransferFunction

was being called with input/output keywords. Picked up in unit test.

* tests/matlab_test.py: added calls to all of the functions that are

currently implemented in the library, to make sure there are no

hidden issues. These calls do *not* test functionality, they just

make sure that MATLAB compatibility functions accept the right types

of arguments.

* examples/secord-matlab.py: added root locus plot to list of

figures that are produced

* src/__init__.py: added rlocus to list of modules that are imported

by control module

* src/exception.py (ControlMIMONotImplemented): added exception for

functions that are not yet implemented for MIMO systems

* src/xferfcn.py (TransferFunction.__init__): convert integer

numerator and denominator objects to floats to eliminate errors when

creating common denominator (also used on pole command). This fixes

and error were tf([1], [1, 2, 1]).pole() would generate an error.

* src/freqplot.py (bode): Tweaked documentation string to remove 'h'

from mag and phase return arguments

* src/rlocus.py (RootLocus): removed commands that set figure number

inside of RootLocus command, for consistency with other frequency

plot routines. Added Plot=True argument and updated documentation.

* src/matlab.py: added rlocus() command (calls RootLocus)

* MANIFEST.in: Added MANIFEST.in file to include examples and tests

in source distribution

* README: Updated to include information on how to run unit tests.

* setup.py: updated version number to 0.4c

---- control-0.4b released -----

2011-04-02 Richard Murray <murray@malabar.local>

* src/__init__.py: removed import of tests module (moved to tests/)

* src/matlab.py: Added hsvd, balred, modred to list of functions

that are imported for use as is. Updated documentation string to

indicate that these are implemented, along with a few other

functions (zero, lqr) that weren't properly listed.

* src/modelsimp.py (balred): Removed extraneous print statements

(modred): Set method to be 'matchdc' by default (to match MATLAB)

* src/__init__.py: added missing import of modelsimp functions

* tests/slycot_convert_test.py (TestSlycot.testTF): turned off print

statements in unit test to make it easier to see results. Use

verbose=True to turn back on.

* tests/convert_test.py (TestConvert.testConvert): got rid of print

statements in unittest; clutters the output so that you can't see

the errors clearly. Use verbose=True to turn back on.

* src/statesp.py (_convertToStateSpace): removed "buggy" print

statements

* src/xferfcn.py (_convertToTransferFunction): removed "buggy" print

statements

* tests/nichols_test.py (TestStateSpace.testNgrid): updated testcode

to turn off grid in initial Nichols chart plot.

* src/freqplot.py: updated comments at top of file to reflect

nichols chart move

* src/nichols.py: transferred over changes from v0.3d

* src/matlab.py (ngrid): moved import to function

2011-03-31 Richard Murray <murray@malabar.local>

* examples/pvtol-nested.py: updated stability margin plot to use

proper calling format for bode().

* src/statesp.py (_convertToStateSpace): moved slycot import

to the location where it is actually needed (allows running some

commands without slycot installed)

* src/xferfcn.py (_convertToTransferFunction): moved slycot import

to the location where it is actually needed (allows running some

commands without slycot installed)

* src/nichols.py: new file for Nichols plot routines; move

nichols(), nichols_grid(), closed_loop_contours(), m_circles(),

n_circles()

* src/__init__.py, src/freqresp.py, src/matlab.py: updated to match

new file structure for Nichols charts

* src/nichols.py (nichols): updated processing of freqresp to take

into account the fact that return arguments are now a matrix of

results (even for a SISO system)

2011-03-30 Richard Murray <murray@malabar.local>

* tests/: added top level subdirectory, to be used for unit tests.

The idea in putting the code here is that you can do 'setup.py test'

during installation to make sure everything is working correctly.

The test code would normally *not* be callable from the installed

module.

* tests/*_test.py: moved from src/Test*.py

* setup.py: updated version number.

2011-02-13 Richard Murray <murray@sumatra.local>

* src/*.py: added svn:keywords Id properly

* src/matlab.py (ngrid): added ngrid() from v0.3d

* src/freqplot.py (nichols_grid, closed_loop_contours, m_circles,

n_circles): copied over changes from Allan McInnes in v0.3d; ngrid()

functiality + split out some of the nichols chart code into separate

functions

2011-02-12 Richard Murray <murray@sumatra.local>

* setup.py: updated version number to 0.4a

2010-11-05 Richard Murray <murray@sumatra.local>

* external/yottalab.py: New file containing Roberto Bucher's control

library functions. OK to start pulling these into the main library,

with attribution, but note that they use modifications of the

default library => some rewrites will be needed.

2010-09-11 Richard Murray <murray@sumatra.local>

* src/matlab.py (step): Added local step response function that uses

lsim2() instead of signal.step (which can't handle integrators).

This function may not be needed when new scipy step2() function is

available.

(impulse): Added local impulse response function that sets the

initial condition based on the input matrix and then uses the

lsim2() function to compute the response.

* examples/test-response.py: Added test script for making sure that

time repsonse functions are working as desired

* src/matlab.py (lsim): Added local version of lsim that calls

signal.lsim2 (actual ODE integrator)

2010-09-06 Richard Murray <murray@sumatra.local>

* src/statefbk.py (ctrb): new function for testing controllability

* src/statefbk.py (obsv): new function for testing observabiilty

2010-09-02 Richard Murray <murray@sumatra.local>

* src/statefbk.py (place): Use np.size() instead of len() for

finding length of placed_eigs for better compatability with

different python versions [courtesy of Roberto Bucher]

* src/delay.py (pade): New file for delay-based computations +

initial implementation of pade() [courtesy Sawyer Fuller]

2010-06-17 Richard Murray <murray@sumatra.local>

* src/rlocus.py: changed num, den to nump, denp for clarity

* src/rlocus.py: new file with Ryan Krauss's root locus code

2010-06-06 Richard Murray <murray@sumatra.local>

* examples/pvtol-lqr.py: Added example to test out LQR routines

* src/matlab.py (bode): created a wrapper that allows MATLAB style

arguments for bode (eg, bode(sys1, sys2))

* src/ctrlutil.py (issys): added new function to check if an object

is a system (state space or transfer function). Will generalize

this latter to look for other compatible classes.

* src/freqplot.py (bode): Compute frequency range of bode plot based

on poles and zeros

(bode): Allow bode plot to be passed a list (or tuple) as the first

argument, in which case multiple bode plots are generated

* src/statesp.py (StateSpace.zeros): new function to compute zeros

for a state space system

(StateSpace): defined new functions to compute poles of a state

space system

* src/xferfcn.py (TransferFunction): defined new functions to

compute poles and zeros of a transfer function.

2010-05-31 Richard Murray <murray@sumatra.local>

* src/exception.py (ControlNotImplemented): added new exception, to

be used for functions that are not yet implemented

* src/statefbk.py (lqr): added lqr function (using slycot). Still

needs to be verified to make sure calculations are correct.

* ChangeLog: converted to standard GNU formation (old style below)

* setup.py: updated package number to v0.3, changed URL to

sourceforge wiki

------------------

31 May 2010, RMM: added place() function using slycot

* New module: statefbk - functions to design state feedback controllers

* Uses Enrico Avventi slycot wrappers (http://github.com/avventi/Slycot)

* Also added some exception types: ControlSlycot and ControlDimension

* Added new example to test slycot interface (directly)

29 May 2010, RMM: updated function documentation

* Added __doc__ strings for all current functions

* Added __doc__ string to matlab module, listing control toolbox functions

22 May 2010, RMM: tweaked comments and released v0.3a

* Changed copyright information on modified files to 2010

* Updated "to do" comments to use "#! TODO:" as prefix

11 Feb 2010, GR: implemented and tested state space feedback

15 Jan 2010, GR: added new example, improved bode

4 Jan 2010, GR: updated bode plots

* made bode plot more like matlab

* added options for plotting in dB, Hz

27 Dec 2009, GR: important bug fix: feedback TFs were being divided by two

10 Oct 09, RMM: reset matplotlib import in secord-matlab

* Using 'from matplotlib import *' causes error with figures

* On my other computer, got error when trying to import 'matplotlib.pyplot'

* Need to sort out versions and figure out proper import structure

13 Sep 09, RMM: added basic state space functionality

* Updated StateSpace routines to allow BD algebra with constants

* Updated pvtol-nested example to try to use state space representation

(not completely working yet)

12 Sep 09, RMM: code restructuring for transfer functions

* Implemented feedback() method in bldalg; partially working

for mixture of TF, SS and numbers (not thoroughly tested yet)

* New feedback method for TransferFunctions

* Updated gangof4 to use new feedback function

9 Sep 09, RMM: updated pzmap to generate a plot (turn off with Plot=False)

8 Sep 09, RMM: rewrite of xferfcn to handle type casting better

* Appropriate functions now call convertToTransferFunction

* Restricted transfer function to SISO only

7 Sep 09, RMM: additional fixes

* Implemented block diagram operations for SISO transfer functions

* Modified frequency response functions for transfer functions

* Added rudimentary pole/zero computations

* Added comments on things that need to be fixed (search for !)

5 Sep 09, RMM: updates to get standard examples working

* Copied and converted pvtol_nested.py from AM08, Chapter 11

* Updated freqresp to use poly1d for computing values

* Added outputs to bode plot - return mag and phase subplot handles

2009-05-24 Richard Murray <murray@kona-2.local>

* ./ Initial creation of package files and ChangeLog

* Using simpler text format since emacs python mode doesn't support

ChangeLog entries anyway



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