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Many small updates to make compatible with python 3.x:
 * Updated unit tests to skip certain tests if slycot is not installed * Fixed some problems with timebase (dt) to avoid comparing None to int * Fixed exception syntax in a few more spots (E, T to E(T)) * Fixed print syntax in a few more spots (backward compatible with 2.6+) * Updated FRD to include python 3.x fixes installed in other modules * tests/test_*.py scripts not working in 3.x, but individual tests OK * Current version works with nosetests in py2.7, py3.2 (-slycot) Also, a few other updates not directly relate to python 3.x: * Added FRD to sphinx documentation * Set tests/{test_all.py,test_control_matlab.py} to executable so that they are skipped by nosetests
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21 files changed

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‎ChangeLog‎

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2012-11-03 Richard Murray <murray@altura.local>
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* src/rlocus.py (_RLSortRoots): convert output of range() to
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explicit list for python 3 compatability
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* tests/modelsimp_test.py, tests/slycot_convert_test.py,
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tests/mateqn_test.py, tests/statefbk_test.py: updated test suites to
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skip specific tests that require slycot if it is not installed
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* src/exception.py (slycot_check): added a function to check if
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slycot is installed
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* README: updated readme to include information about running
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nosetests, which works in python3 (unlike the test_all.py script)
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* tests/test_control_matlab.py, tests/test_all.py: set to executable
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so that nosetests does not run this file (it already runs all unit
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tests in this directory). Add comments at top talking about tests.
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* tests/discrete_test.py (TestDiscrete.test_discrete_bode):
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explicitly create a list from map() output for python 3
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* src/frdata.py: removed long data type from comparisons for
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constant systems (not supported in python3)
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* src/xferfcn.py (TransferFunction.freqresp): force frequencies to
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be a list (map returns iterator in python3)
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* src/lti.py (isdtime, isctime): updated timebase checking since
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python3 won't allow dt to be compared to integer
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* src/__init__.py: updated frdata import to python3 compatible form
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* src/statesp.py (_convertToStateSpace): fixed exception syntax to
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be python3 compatible
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* examples/pvtol-nested.py: converted print statements to be python3
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compatible
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* doc/class_strings.rst: added FRD class to list of classes that
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show up in the user documentation
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* examples/rss-balred.py: fixed error in output argument order for
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call to matlab.impulse
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* ../README: updated readme file as a test of post-commit hook
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2012-11-02 Richard Murray <murray@altura.local>

‎README‎

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@@ -2,9 +2,9 @@ Python Control System Library
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RMM, 23 May 09
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This directory contains the source code for the Python Control Systems
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Library (python-control). This library is still under development,
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but is intended to serve as a wrapper for standard control system
7-
algorithms in the python programming environment.
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Library (python-control). This library is still under development, but is
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intended to serve as a wrapper for standard control system algorithms in the
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python programming environment.
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Installation instructions
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-------------------------
@@ -13,13 +13,18 @@ Standard python package installation:
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python setup.py install
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To see if things are working, you can run the script
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examples/secord-matlab.py (using ipython -pylab). It should generate
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a step response, Bode plot and Nyquist plot for a simple second order
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linear system.
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examples/secord-matlab.py (using ipython -pylab). It should generate a step
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response, Bode plot and Nyquist plot for a simple second order linear
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system.
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You can also run a set of unit tests to make sure that everything is
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working correctly. After installation, run
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You can also run a set of unit tests to make sure that everything is working
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correctly. After installation, run
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python tests/test_all.py
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from the source distribution directory.
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from the source distribution directory (note: doesn't yet work in python
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3.x). Alternatively, if you have nosetests installed, you can simply run
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nosetests
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which gives a somewhat cleaner output (and works in python 3.x)

‎doc/class_strings.rst‎

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=======================
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.. automodule:: xferfcn
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:members:
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FRD Class
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=========
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.. automodule:: frdata
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:members:

‎examples/pvtol-nested.py‎

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# package.
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#
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from __future__ import print_function
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from matplotlib.pyplot import * # Grab MATLAB plotting functions
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from control.matlab import * # MATLAB-like functions
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import numpy as np
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figure(10); clf();
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(P, Z) = pzmap(T, Plot=True)
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print "Closed loop poles and zeros: ", P, Z
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print("Closed loop poles and zeros: ", P, Z)
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# Gang of Four
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figure(11); clf();

‎examples/rss-balred.py‎

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# Comparison of the impulse responses of the full and reduced random systems
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plt.figure(2)
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trand, yrand = mt.impulse(sysrand)
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trandr, yrandr = mt.impulse(rsysrand)
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plt.plot(trand.T, yrand.T,trandr.T, yrandr.T)
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yrand, trand = mt.impulse(sysrand)
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yrandr, trandr = mt.impulse(rsysrand)
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plt.plot(trand.T, yrand.T, trandr.T, yrandr.T)
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‎src/__init__.py‎

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impulse_response
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from control.xferfcn import TransferFunction
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from control.ctrlutil import unwrap, issys
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from frdata import FRD
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from control.frdata import FRD
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# Import some of the more common (and benign) MATLAB shortcuts
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# By default, don't import conflicting commands here

‎src/exception.py‎

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@@ -59,3 +59,12 @@ class ControlMIMONotImplemented(Exception):
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class ControlNotImplemented(Exception):
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"""Functionality is not yet implemented"""
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pass
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# Utility function to see if slycot is installed
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def slycot_check():
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try:
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import slycot
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except:
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return False
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else:
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return True

‎src/frdata.py‎

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real, imag, matrix, absolute, eye, linalg, pi, where
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from scipy.interpolate import splprep, splev
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from copy import deepcopy
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from lti import Lti
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import statesp
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from control.lti import Lti
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import control.statesp as statesp
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class FRD(Lti):
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"""The FRD class represents (measured?) frequency response
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TF instances and functions.
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"""Multiply two LTI objects (serial connection)."""
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# Convert the second argument to a transfer function.
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if isinstance(other, (int, float, long, complex)):
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if isinstance(other, (int, float, complex)):
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other = _convertToFRD(other, inputs=self.inputs,
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outputs=self.inputs, omega=self.omega)
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else:
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def __div__(self, other):
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"""Divide two LTI objects."""
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if isinstance(other, (int, float, long, complex)):
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if isinstance(other, (int, float, complex)):
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other = _convertToFRD(other, inputs=self.inputs,
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outputs=self.inputs, omega=self.omega)
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else:
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# TODO: Division of MIMO transfer function objects is not written yet.
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def __rdiv__(self, other):
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"""Right divide two LTI objects."""
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if isinstance(other, (int, float, long, complex)):
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if isinstance(other, (int, float, complex)):
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other = _convertToFRD(other, inputs=self.inputs,
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outputs=self.inputs, omega=self.omega)
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else:
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444443
return FRD(fresp, omega)
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446-
elif isinstance(sys, (int, long, float, complex)):
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elif isinstance(sys, (int, float, complex)):
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fresp = ones((outputs, inputs, len(omega)), dtype=float)*sys
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return FRD(fresp, omega)
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‎src/lti.py‎

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@@ -110,9 +110,12 @@ def isdtime(sys, strict=False):
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# Check for a transfer fucntion or state space object
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if isinstance(sys, Lti):
113-
# Look for dt > 0 or dt == None (if not strict)
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# Note that dt = True will be checked by dt > 0
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return sys.dt > 0 or (not strict and sys.dt == None)
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# If no timebase is given, answer depends on strict flag
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if sys.dt == None:
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return True if not strict else False
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# Look for dt > 0 (also works if dt = True)
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return sys.dt > 0
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# Got possed something we don't recognize
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return False
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128131
# Check for a transfer fucntion or state space object
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if isinstance(sys, Lti):
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# Look for dt == 0 or dt == None (if not strict)
131-
return sys.dt == 0 or (not strict and sys.dt == None)
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# If no timebase is given, answer depends on strict flag
134+
if sys.dt == None:
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return True if not strict else False
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# Look for dt == 0
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return sys.dt == 0
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# Got possed something we don't recognize
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return False

‎src/rlocus.py‎

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# sort the current row by finding the element with the
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# smallest absolute distance to each root in the
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# previous row
160-
available = range(len(prevrow))
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available = list(range(len(prevrow)))
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for elem in row:
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evect = elem-prevrow[available]
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ind1 = abs(evect).argmin()

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