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2440 lines (2017 loc) · 99.2 KB
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# iosys.py - input/output system module
#
# RMM, 28 April 2019
#
# Additional features to add
# * Allow constant inputs for MIMO input_output_response (w/out ones)
# * Add support for constants/matrices as part of operators (1 + P)
# * Add unit tests (and example?) for time-varying systems
# * Allow time vector for discrete time simulations to be multiples of dt
# * Check the way initial outputs for discrete time systems are handled
#
"""The :mod:`~control.iosys` module contains the
:class:`~control.InputOutputSystem` class that represents (possibly nonlinear)
input/output systems. The :class:`~control.InputOutputSystem` class is a
general class that defines any continuous or discrete time dynamical system.
Input/output systems can be simulated and also used to compute equilibrium
points and linearizations.
"""
__author__ = "Richard Murray"
__copyright__ = "Copyright 2019, California Institute of Technology"
__credits__ = ["Richard Murray"]
__license__ = "BSD"
__maintainer__ = "Richard Murray"
__email__ = "murray@cds.caltech.edu"
import numpy as np
import scipy as sp
import copy
from warnings import warn
from .statesp import StateSpace, tf2ss, _convert_to_statespace
from .timeresp import _check_convert_array, _process_time_response, \
TimeResponseData
from .lti import isctime, isdtime, common_timebase
from . import config
__all__ = ['InputOutputSystem', 'LinearIOSystem', 'NonlinearIOSystem',
'InterconnectedSystem', 'LinearICSystem', 'input_output_response',
'find_eqpt', 'linearize', 'ss2io', 'tf2io', 'interconnect',
'summing_junction']
# Define module default parameter values
_iosys_defaults = {
'iosys.state_name_delim': '_',
'iosys.duplicate_system_name_prefix': '',
'iosys.duplicate_system_name_suffix': '$copy',
'iosys.linearized_system_name_prefix': '',
'iosys.linearized_system_name_suffix': '$linearized'
}
class InputOutputSystem(object):
"""A class for representing input/output systems.
The InputOutputSystem class allows (possibly nonlinear) input/output
systems to be represented in Python. It is intended as a parent
class for a set of subclasses that are used to implement specific
structures and operations for different types of input/output
dynamical systems.
Parameters
----------
inputs : int, list of str, or None
Description of the system inputs. This can be given as an integer
count or as a list of strings that name the individual signals. If an
integer count is specified, the names of the signal will be of the
form `s[i]` (where `s` is one of `u`, `y`, or `x`). If this parameter
is not given or given as `None`, the relevant quantity will be
determined when possible based on other information provided to
functions using the system.
outputs : int, list of str, or None
Description of the system outputs. Same format as `inputs`.
states : int, list of str, or None
Description of the system states. Same format as `inputs`.
dt : None, True or float, optional
System timebase. 0 (default) indicates continuous
time, True indicates discrete time with unspecified sampling
time, positive number is discrete time with specified
sampling time, None indicates unspecified timebase (either
continuous or discrete time).
params : dict, optional
Parameter values for the systems. Passed to the evaluation functions
for the system as default values, overriding internal defaults.
name : string, optional
System name (used for specifying signals). If unspecified, a generic
name <sys[id]> is generated with a unique integer id.
Attributes
----------
ninputs, noutputs, nstates : int
Number of input, output and state variables
input_index, output_index, state_index : dict
Dictionary of signal names for the inputs, outputs and states and the
index of the corresponding array
dt : None, True or float
System timebase. 0 (default) indicates continuous time, True indicates
discrete time with unspecified sampling time, positive number is
discrete time with specified sampling time, None indicates unspecified
timebase (either continuous or discrete time).
params : dict, optional
Parameter values for the systems. Passed to the evaluation functions
for the system as default values, overriding internal defaults.
name : string, optional
System name (used for specifying signals)
Notes
-----
The :class:`~control.InputOuputSystem` class (and its subclasses) makes
use of two special methods for implementing much of the work of the class:
* _rhs(t, x, u): compute the right hand side of the differential or
difference equation for the system. This must be specified by the
subclass for the system.
* _out(t, x, u): compute the output for the current state of the system.
The default is to return the entire system state.
"""
_idCounter = 0
def _name_or_default(self, name=None):
if name is None:
name = "sys[{}]".format(InputOutputSystem._idCounter)
InputOutputSystem._idCounter += 1
return name
def __init__(self, inputs=None, outputs=None, states=None, params={},
name=None, **kwargs):
"""Create an input/output system.
The InputOutputSystem constructor is used to create an input/output
object with the core information required for all input/output
systems. Instances of this class are normally created by one of the
input/output subclasses: :class:`~control.LinearICSystem`,
:class:`~control.LinearIOSystem`, :class:`~control.NonlinearIOSystem`,
:class:`~control.InterconnectedSystem`.
"""
# Store the input arguments
# default parameters
self.params = params.copy()
# timebase
self.dt = kwargs.get('dt', config.defaults['control.default_dt'])
# system name
self.name = self._name_or_default(name)
# Parse and store the number of inputs, outputs, and states
self.set_inputs(inputs)
self.set_outputs(outputs)
self.set_states(states)
#
# Class attributes
#
# These attributes are defined as class attributes so that they are
# documented properly. They are "overwritten" in __init__.
#
#: Number of system inputs.
#:
#: :meta hide-value:
ninputs = 0
#: Number of system outputs.
#:
#: :meta hide-value:
noutputs = 0
#: Number of system states.
#:
#: :meta hide-value:
nstates = 0
def __repr__(self):
return self.name if self.name is not None else str(type(self))
def __str__(self):
"""String representation of an input/output system"""
str = "System: " + (self.name if self.name else "(None)") + "\n"
str += "Inputs (%s): " % self.ninputs
for key in self.input_index:
str += key + ", "
str += "\nOutputs (%s): " % self.noutputs
for key in self.output_index:
str += key + ", "
str += "\nStates (%s): " % self.nstates
for key in self.state_index:
str += key + ", "
return str
def __mul__(sys2, sys1):
"""Multiply two input/output systems (series interconnection)"""
if isinstance(sys1, (int, float, np.number)):
# TODO: Scale the output
raise NotImplemented("Scalar multiplication not yet implemented")
elif isinstance(sys1, np.ndarray):
# TODO: Post-multiply by a matrix
raise NotImplemented("Matrix multiplication not yet implemented")
elif not isinstance(sys1, InputOutputSystem):
raise TypeError("Unknown I/O system object ", sys1)
# Make sure systems can be interconnected
if sys1.noutputs != sys2.ninputs:
raise ValueError("Can't multiply systems with incompatible "
"inputs and outputs")
# Make sure timebase are compatible
dt = common_timebase(sys1.dt, sys2.dt)
# Create a new system to handle the composition
inplist = [(0, i) for i in range(sys1.ninputs)]
outlist = [(1, i) for i in range(sys2.noutputs)]
newsys = InterconnectedSystem(
(sys1, sys2), inplist=inplist, outlist=outlist)
# Set up the connection map manually
newsys.set_connect_map(np.block(
[[np.zeros((sys1.ninputs, sys1.noutputs)),
np.zeros((sys1.ninputs, sys2.noutputs))],
[np.eye(sys2.ninputs, sys1.noutputs),
np.zeros((sys2.ninputs, sys2.noutputs))]]
))
# If both systems are linear, create LinearICSystem
if isinstance(sys1, StateSpace) and isinstance(sys2, StateSpace):
ss_sys = StateSpace.__mul__(sys2, sys1)
return LinearICSystem(newsys, ss_sys)
# Return the newly created InterconnectedSystem
return newsys
def __rmul__(sys1, sys2):
"""Pre-multiply an input/output systems by a scalar/matrix"""
if isinstance(sys2, InputOutputSystem):
# Both systems are InputOutputSystems => use __mul__
return InputOutputSystem.__mul__(sys2, sys1)
elif isinstance(sys2, (int, float, np.number)):
# TODO: Scale the output
raise NotImplemented("Scalar multiplication not yet implemented")
elif isinstance(sys2, np.ndarray):
# TODO: Post-multiply by a matrix
raise NotImplemented("Matrix multiplication not yet implemented")
elif isinstance(sys2, StateSpace):
# TODO: Should eventuall preserve LinearIOSystem structure
return StateSpace.__mul__(sys2, sys1)
else:
raise TypeError("Unknown I/O system object ", sys1)
def __add__(sys1, sys2):
"""Add two input/output systems (parallel interconnection)"""
# TODO: Allow addition of scalars and matrices
if isinstance(sys2, (int, float, np.number)):
# TODO: Scale the output
raise NotImplemented("Scalar addition not yet implemented")
elif isinstance(sys2, np.ndarray):
# TODO: Post-multiply by a matrix
raise NotImplemented("Matrix addition not yet implemented")
elif not isinstance(sys2, InputOutputSystem):
raise TypeError("Unknown I/O system object ", sys2)
# Make sure number of input and outputs match
if sys1.ninputs != sys2.ninputs or sys1.noutputs != sys2.noutputs:
raise ValueError("Can't add systems with different numbers of "
"inputs or outputs.")
ninputs = sys1.ninputs
noutputs = sys1.noutputs
# Create a new system to handle the composition
inplist = [[(0, i), (1, i)] for i in range(ninputs)]
outlist = [[(0, i), (1, i)] for i in range(noutputs)]
newsys = InterconnectedSystem(
(sys1, sys2), inplist=inplist, outlist=outlist)
# If both systems are linear, create LinearICSystem
if isinstance(sys1, StateSpace) and isinstance(sys2, StateSpace):
ss_sys = StateSpace.__add__(sys2, sys1)
return LinearICSystem(newsys, ss_sys)
# Return the newly created InterconnectedSystem
return newsys
# TODO: add __radd__ to allow postaddition by scalars and matrices
def __neg__(sys):
"""Negate an input/output systems (rescale)"""
if sys.ninputs is None or sys.noutputs is None:
raise ValueError("Can't determine number of inputs or outputs")
inplist = [(0, i) for i in range(sys.ninputs)]
outlist = [(0, i, -1) for i in range(sys.noutputs)]
# Create a new system to hold the negation
newsys = InterconnectedSystem(
(sys,), dt=sys.dt, inplist=inplist, outlist=outlist)
# If the system is linear, create LinearICSystem
if isinstance(sys, StateSpace):
ss_sys = StateSpace.__neg__(sys)
return LinearICSystem(newsys, ss_sys)
# Return the newly created system
return newsys
def _isstatic(self):
"""Check to see if a system is a static system (no states)"""
return self.nstates == 0
# Utility function to parse a list of signals
def _process_signal_list(self, signals, prefix='s'):
if signals is None:
# No information provided; try and make it up later
return None, {}
elif isinstance(signals, int):
# Number of signals given; make up the names
return signals, {'%s[%d]' % (prefix, i): i for i in range(signals)}
elif isinstance(signals, str):
# Single string given => single signal with given name
return 1, {signals: 0}
elif all(isinstance(s, str) for s in signals):
# Use the list of strings as the signal names
return len(signals), {signals[i]: i for i in range(len(signals))}
else:
raise TypeError("Can't parse signal list %s" % str(signals))
# Find a signal by name
def _find_signal(self, name, sigdict): return sigdict.get(name, None)
# Update parameters used for _rhs, _out (used by subclasses)
def _update_params(self, params, warning=False):
if (warning):
warn("Parameters passed to InputOutputSystem ignored.")
def _rhs(self, t, x, u, params={}):
"""Evaluate right hand side of a differential or difference equation.
Private function used to compute the right hand side of an
input/output system model. Intended for fast
evaluation; for a more user-friendly interface
you may want to use :meth:`dynamics`.
"""
NotImplemented("Evaluation not implemented for system of type ",
type(self))
def dynamics(self, t, x, u):
"""Compute the dynamics of a differential or difference equation.
Given time `t`, input `u` and state `x`, returns the value of the
right hand side of the dynamical system. If the system is continuous,
returns the time derivative
dx/dt = f(t, x, u)
where `f` is the system's (possibly nonlinear) dynamics function.
If the system is discrete-time, returns the next value of `x`:
x[t+dt] = f(t, x[t], u[t])
Where `t` is a scalar.
The inputs `x` and `u` must be of the correct length.
Parameters
----------
t : float
the time at which to evaluate
x : array_like
current state
u : array_like
input
Returns
-------
dx/dt or x[t+dt] : ndarray
"""
return self._rhs(t, x, u)
def _out(self, t, x, u, params={}):
"""Evaluate the output of a system at a given state, input, and time
Private function used to compute the output of of an input/output
system model given the state, input, parameters. Intended for fast
evaluation; for a more user-friendly interface you may want to use
:meth:`output`.
"""
# If no output function was defined in subclass, return state
return x
def output(self, t, x, u):
"""Compute the output of the system
Given time `t`, input `u` and state `x`, returns the output of the
system:
y = g(t, x, u)
The inputs `x` and `u` must be of the correct length.
Parameters
----------
t : float
the time at which to evaluate
x : array_like
current state
u : array_like
input
Returns
-------
y : ndarray
"""
return self._out(t, x, u)
def set_inputs(self, inputs, prefix='u'):
"""Set the number/names of the system inputs.
Parameters
----------
inputs : int, list of str, or None
Description of the system inputs. This can be given as an integer
count or as a list of strings that name the individual signals.
If an integer count is specified, the names of the signal will be
of the form `u[i]` (where the prefix `u` can be changed using the
optional prefix parameter).
prefix : string, optional
If `inputs` is an integer, create the names of the states using
the given prefix (default = 'u'). The names of the input will be
of the form `prefix[i]`.
"""
self.ninputs, self.input_index = \
self._process_signal_list(inputs, prefix=prefix)
def set_outputs(self, outputs, prefix='y'):
"""Set the number/names of the system outputs.
Parameters
----------
outputs : int, list of str, or None
Description of the system outputs. This can be given as an integer
count or as a list of strings that name the individual signals.
If an integer count is specified, the names of the signal will be
of the form `u[i]` (where the prefix `u` can be changed using the
optional prefix parameter).
prefix : string, optional
If `outputs` is an integer, create the names of the states using
the given prefix (default = 'y'). The names of the input will be
of the form `prefix[i]`.
"""
self.noutputs, self.output_index = \
self._process_signal_list(outputs, prefix=prefix)
def set_states(self, states, prefix='x'):
"""Set the number/names of the system states.
Parameters
----------
states : int, list of str, or None
Description of the system states. This can be given as an integer
count or as a list of strings that name the individual signals.
If an integer count is specified, the names of the signal will be
of the form `u[i]` (where the prefix `u` can be changed using the
optional prefix parameter).
prefix : string, optional
If `states` is an integer, create the names of the states using
the given prefix (default = 'x'). The names of the input will be
of the form `prefix[i]`.
"""
self.nstates, self.state_index = \
self._process_signal_list(states, prefix=prefix)
def find_input(self, name):
"""Find the index for an input given its name (`None` if not found)"""
return self.input_index.get(name, None)
def find_output(self, name):
"""Find the index for an output given its name (`None` if not found)"""
return self.output_index.get(name, None)
def find_state(self, name):
"""Find the index for a state given its name (`None` if not found)"""
return self.state_index.get(name, None)
def issiso(self):
"""Check to see if a system is single input, single output"""
return self.ninputs == 1 and self.noutputs == 1
def feedback(self, other=1, sign=-1, params={}):
"""Feedback interconnection between two input/output systems
Parameters
----------
sys1: InputOutputSystem
The primary process.
sys2: InputOutputSystem
The feedback process (often a feedback controller).
sign: scalar, optional
The sign of feedback. `sign` = -1 indicates negative feedback,
and `sign` = 1 indicates positive feedback. `sign` is an optional
argument; it assumes a value of -1 if not specified.
Returns
-------
out: InputOutputSystem
Raises
------
ValueError
if the inputs, outputs, or timebases of the systems are
incompatible.
"""
# TODO: add conversion to I/O system when needed
if not isinstance(other, InputOutputSystem):
# Try converting to a state space system
try:
other = _convert_to_statespace(other)
except TypeError:
raise TypeError(
"Feedback around I/O system must be an I/O system "
"or convertable to an I/O system.")
other = LinearIOSystem(other)
# Make sure systems can be interconnected
if self.noutputs != other.ninputs or other.noutputs != self.ninputs:
raise ValueError("Can't connect systems with incompatible "
"inputs and outputs")
# Make sure timebases are compatible
dt = common_timebase(self.dt, other.dt)
inplist = [(0, i) for i in range(self.ninputs)]
outlist = [(0, i) for i in range(self.noutputs)]
# Return the series interconnection between the systems
newsys = InterconnectedSystem(
(self, other), inplist=inplist, outlist=outlist,
params=params, dt=dt)
# Set up the connecton map manually
newsys.set_connect_map(np.block(
[[np.zeros((self.ninputs, self.noutputs)),
sign * np.eye(self.ninputs, other.noutputs)],
[np.eye(other.ninputs, self.noutputs),
np.zeros((other.ninputs, other.noutputs))]]
))
if isinstance(self, StateSpace) and isinstance(other, StateSpace):
# Special case: maintain linear systems structure
ss_sys = StateSpace.feedback(self, other, sign=sign)
return LinearICSystem(newsys, ss_sys)
# Return the newly created system
return newsys
def linearize(self, x0, u0, t=0, params={}, eps=1e-6,
name=None, copy=False, **kwargs):
"""Linearize an input/output system at a given state and input.
Return the linearization of an input/output system at a given state
and input value as a StateSpace system. See
:func:`~control.linearize` for complete documentation.
"""
#
# If the linearization is not defined by the subclass, perform a
# numerical linearization use the `_rhs()` and `_out()` member
# functions.
#
# Figure out dimensions if they were not specified.
nstates = _find_size(self.nstates, x0)
ninputs = _find_size(self.ninputs, u0)
# Convert x0, u0 to arrays, if needed
if np.isscalar(x0):
x0 = np.ones((nstates,)) * x0
if np.isscalar(u0):
u0 = np.ones((ninputs,)) * u0
# Compute number of outputs by evaluating the output function
noutputs = _find_size(self.noutputs, self._out(t, x0, u0))
# Update the current parameters
self._update_params(params)
# Compute the nominal value of the update law and output
F0 = self._rhs(t, x0, u0)
H0 = self._out(t, x0, u0)
# Create empty matrices that we can fill up with linearizations
A = np.zeros((nstates, nstates)) # Dynamics matrix
B = np.zeros((nstates, ninputs)) # Input matrix
C = np.zeros((noutputs, nstates)) # Output matrix
D = np.zeros((noutputs, ninputs)) # Direct term
# Perturb each of the state variables and compute linearization
for i in range(nstates):
dx = np.zeros((nstates,))
dx[i] = eps
A[:, i] = (self._rhs(t, x0 + dx, u0) - F0) / eps
C[:, i] = (self._out(t, x0 + dx, u0) - H0) / eps
# Perturb each of the input variables and compute linearization
for i in range(ninputs):
du = np.zeros((ninputs,))
du[i] = eps
B[:, i] = (self._rhs(t, x0, u0 + du) - F0) / eps
D[:, i] = (self._out(t, x0, u0 + du) - H0) / eps
# Create the state space system
linsys = LinearIOSystem(
StateSpace(A, B, C, D, self.dt, remove_useless=False),
name=name, **kwargs)
# Set the names the system, inputs, outputs, and states
if copy:
if name is None:
linsys.name = \
config.defaults['iosys.linearized_system_name_prefix'] + \
self.name + \
config.defaults['iosys.linearized_system_name_suffix']
linsys.ninputs, linsys.input_index = self.ninputs, \
self.input_index.copy()
linsys.noutputs, linsys.output_index = \
self.noutputs, self.output_index.copy()
linsys.nstates, linsys.state_index = \
self.nstates, self.state_index.copy()
return linsys
def copy(self, newname=None):
"""Make a copy of an input/output system."""
dup_prefix = config.defaults['iosys.duplicate_system_name_prefix']
dup_suffix = config.defaults['iosys.duplicate_system_name_suffix']
newsys = copy.copy(self)
newsys.name = self._name_or_default(
dup_prefix + self.name + dup_suffix if not newname else newname)
return newsys
class LinearIOSystem(InputOutputSystem, StateSpace):
"""Input/output representation of a linear (state space) system.
This class is used to implement a system that is a linear state
space system (defined by the StateSpace system object).
Parameters
----------
linsys : StateSpace
LTI StateSpace system to be converted
inputs : int, list of str or None, optional
Description of the system inputs. This can be given as an integer
count or as a list of strings that name the individual signals. If an
integer count is specified, the names of the signal will be of the
form `s[i]` (where `s` is one of `u`, `y`, or `x`). If this parameter
is not given or given as `None`, the relevant quantity will be
determined when possible based on other information provided to
functions using the system.
outputs : int, list of str or None, optional
Description of the system outputs. Same format as `inputs`.
states : int, list of str, or None, optional
Description of the system states. Same format as `inputs`.
dt : None, True or float, optional
System timebase. 0 (default) indicates continuous time, True indicates
discrete time with unspecified sampling time, positive number is
discrete time with specified sampling time, None indicates unspecified
timebase (either continuous or discrete time).
params : dict, optional
Parameter values for the systems. Passed to the evaluation functions
for the system as default values, overriding internal defaults.
name : string, optional
System name (used for specifying signals). If unspecified, a
generic name <sys[id]> is generated with a unique integer id.
Attributes
----------
ninputs, noutputs, nstates, dt, etc
See :class:`InputOutputSystem` for inherited attributes.
A, B, C, D
See :class:`~control.StateSpace` for inherited attributes.
"""
def __init__(self, linsys, inputs=None, outputs=None, states=None,
name=None, **kwargs):
"""Create an I/O system from a state space linear system.
Converts a :class:`~control.StateSpace` system into an
:class:`~control.InputOutputSystem` with the same inputs, outputs, and
states. The new system can be a continuous or discrete time system.
"""
if not isinstance(linsys, StateSpace):
raise TypeError("Linear I/O system must be a state space object")
# Look for 'input' and 'output' parameter name variants
inputs = _parse_signal_parameter(inputs, 'input', kwargs)
outputs = _parse_signal_parameter(outputs, 'output', kwargs, end=True)
# Create the I/O system object
super(LinearIOSystem, self).__init__(
inputs=linsys.ninputs, outputs=linsys.noutputs,
states=linsys.nstates, params={}, dt=linsys.dt, name=name)
# Initalize additional state space variables
StateSpace.__init__(self, linsys, remove_useless=False)
# Process input, output, state lists, if given
# Make sure they match the size of the linear system
ninputs, self.input_index = self._process_signal_list(
inputs if inputs is not None else linsys.ninputs, prefix='u')
if ninputs is not None and linsys.ninputs != ninputs:
raise ValueError("Wrong number/type of inputs given.")
noutputs, self.output_index = self._process_signal_list(
outputs if outputs is not None else linsys.noutputs, prefix='y')
if noutputs is not None and linsys.noutputs != noutputs:
raise ValueError("Wrong number/type of outputs given.")
nstates, self.state_index = self._process_signal_list(
states if states is not None else linsys.nstates, prefix='x')
if nstates is not None and linsys.nstates != nstates:
raise ValueError("Wrong number/type of states given.")
# The following text needs to be replicated from StateSpace in order for
# this entry to show up properly in sphinx doccumentation (not sure why,
# but it was the only way to get it to work).
#
#: Deprecated attribute; use :attr:`nstates` instead.
#:
#: The ``state`` attribute was used to store the number of states for : a
#: state space system. It is no longer used. If you need to access the
#: number of states, use :attr:`nstates`.
states = property(StateSpace._get_states, StateSpace._set_states)
def _update_params(self, params={}, warning=True):
# Parameters not supported; issue a warning
if params and warning:
warn("Parameters passed to LinearIOSystems are ignored.")
def _rhs(self, t, x, u):
# Convert input to column vector and then change output to 1D array
xdot = np.dot(self.A, np.reshape(x, (-1, 1))) \
+ np.dot(self.B, np.reshape(u, (-1, 1)))
return np.array(xdot).reshape((-1,))
def _out(self, t, x, u):
# Convert input to column vector and then change output to 1D array
y = np.dot(self.C, np.reshape(x, (-1, 1))) \
+ np.dot(self.D, np.reshape(u, (-1, 1)))
return np.array(y).reshape((-1,))
class NonlinearIOSystem(InputOutputSystem):
"""Nonlinear I/O system.
Creates an :class:`~control.InputOutputSystem` for a nonlinear system by
specifying a state update function and an output function. The new system
can be a continuous or discrete time system (Note: discrete-time systems
are not yet supported by most functions.)
Parameters
----------
updfcn : callable
Function returning the state update function
`updfcn(t, x, u, params) -> array`
where `x` is a 1-D array with shape (nstates,), `u` is a 1-D array
with shape (ninputs,), `t` is a float representing the currrent
time, and `params` is a dict containing the values of parameters
used by the function.
outfcn : callable
Function returning the output at the given state
`outfcn(t, x, u, params) -> array`
where the arguments are the same as for `upfcn`.
inputs : int, list of str or None, optional
Description of the system inputs. This can be given as an integer
count or as a list of strings that name the individual signals.
If an integer count is specified, the names of the signal will be
of the form `s[i]` (where `s` is one of `u`, `y`, or `x`). If
this parameter is not given or given as `None`, the relevant
quantity will be determined when possible based on other
information provided to functions using the system.
outputs : int, list of str or None, optional
Description of the system outputs. Same format as `inputs`.
states : int, list of str, or None, optional
Description of the system states. Same format as `inputs`.
params : dict, optional
Parameter values for the systems. Passed to the evaluation
functions for the system as default values, overriding internal
defaults.
dt : timebase, optional
The timebase for the system, used to specify whether the system is
operating in continuous or discrete time. It can have the
following values:
* dt = 0: continuous time system (default)
* dt > 0: discrete time system with sampling period 'dt'
* dt = True: discrete time with unspecified sampling period
* dt = None: no timebase specified
name : string, optional
System name (used for specifying signals). If unspecified, a
generic name <sys[id]> is generated with a unique integer id.
"""
def __init__(self, updfcn, outfcn=None, inputs=None, outputs=None,
states=None, params={}, name=None, **kwargs):
"""Create a nonlinear I/O system given update and output functions."""
# Look for 'input' and 'output' parameter name variants
inputs = _parse_signal_parameter(inputs, 'input', kwargs)
outputs = _parse_signal_parameter(outputs, 'output', kwargs)
# Store the update and output functions
self.updfcn = updfcn
self.outfcn = outfcn
# Initialize the rest of the structure
dt = kwargs.pop('dt', config.defaults['control.default_dt'])
super(NonlinearIOSystem, self).__init__(
inputs=inputs, outputs=outputs, states=states,
params=params, dt=dt, name=name
)
# Make sure all input arguments got parsed
if kwargs:
raise TypeError("unknown parameters %s" % kwargs)
# Check to make sure arguments are consistent
if updfcn is None:
if self.nstates is None:
self.nstates = 0
else:
raise ValueError("States specified but no update function "
"given.")
if outfcn is None:
# No output function specified => outputs = states
if self.noutputs is None and self.nstates is not None:
self.noutputs = self.nstates
elif self.noutputs is not None and self.noutputs == self.nstates:
# Number of outputs = number of states => all is OK
pass
elif self.noutputs is not None and self.noutputs != 0:
raise ValueError("Outputs specified but no output function "
"(and nstates not known).")
# Initialize current parameters to default parameters
self._current_params = params.copy()
# Return the value of a static nonlinear system
def __call__(sys, u, params=None, squeeze=None):
"""Evaluate a (static) nonlinearity at a given input value
If a nonlinear I/O system has no internal state, then evaluating the
system at an input `u` gives the output `y = F(u)`, determined by the
output function.
Parameters
----------
params : dict, optional
Parameter values for the system. Passed to the evaluation function
for the system as default values, overriding internal defaults.
squeeze : bool, optional
If True and if the system has a single output, return the system
output as a 1D array rather than a 2D array. If False, return the
system output as a 2D array even if the system is SISO. Default
value set by config.defaults['control.squeeze_time_response'].
"""
# Make sure the call makes sense
if not sys._isstatic():
raise TypeError(
"function evaluation is only supported for static "
"input/output systems")
# If we received any parameters, update them before calling _out()
if params is not None:
sys._update_params(params)
# Evaluate the function on the argument
out = sys._out(0, np.array((0,)), np.asarray(u))
_, out = _process_time_response(
None, out, issiso=sys.issiso(), squeeze=squeeze)
return out
def _update_params(self, params, warning=False):
# Update the current parameter values
self._current_params = self.params.copy()
self._current_params.update(params)
def _rhs(self, t, x, u):
xdot = self.updfcn(t, x, u, self._current_params) \
if self.updfcn is not None else []
return np.array(xdot).reshape((-1,))
def _out(self, t, x, u):
y = self.outfcn(t, x, u, self._current_params) \
if self.outfcn is not None else x
return np.array(y).reshape((-1,))
class InterconnectedSystem(InputOutputSystem):
"""Interconnection of a set of input/output systems.
This class is used to implement a system that is an interconnection of
input/output systems. The sys consists of a collection of subsystems
whose inputs and outputs are connected via a connection map. The overall
system inputs and outputs are subsets of the subsystem inputs and outputs.
See :func:`~control.interconnect` for a list of parameters.
"""
def __init__(self, syslist, connections=[], inplist=[], outlist=[],
inputs=None, outputs=None, states=None,
params={}, dt=None, name=None, **kwargs):
"""Create an I/O system from a list of systems + connection info."""
# Look for 'input' and 'output' parameter name variants
inputs = _parse_signal_parameter(inputs, 'input', kwargs)
outputs = _parse_signal_parameter(outputs, 'output', kwargs, end=True)
# Convert input and output names to lists if they aren't already
if not isinstance(inplist, (list, tuple)):
inplist = [inplist]
if not isinstance(outlist, (list, tuple)):
outlist = [outlist]
# Check to make sure all systems are consistent
self.syslist = syslist
self.syslist_index = {}
nstates = 0
self.state_offset = []
ninputs = 0
self.input_offset = []
noutputs = 0
self.output_offset = []
sysobj_name_dct = {}
sysname_count_dct = {}
for sysidx, sys in enumerate(syslist):
# Make sure time bases are consistent
dt = common_timebase(dt, sys.dt)
# Make sure number of inputs, outputs, states is given
if sys.ninputs is None or sys.noutputs is None or \
sys.nstates is None:
raise TypeError("System '%s' must define number of inputs, "
"outputs, states in order to be connected" %
sys.name)
# Keep track of the offsets into the states, inputs, outputs
self.input_offset.append(ninputs)
self.output_offset.append(noutputs)
self.state_offset.append(nstates)
# Keep track of the total number of states, inputs, outputs
nstates += sys.nstates
ninputs += sys.ninputs
noutputs += sys.noutputs
# Check for duplicate systems or duplicate names
# Duplicates are renamed sysname_1, sysname_2, etc.
if sys in sysobj_name_dct:
sys = sys.copy()
warn("Duplicate object found in system list: %s. "
"Making a copy" % str(sys.name))
if sys.name is not None and sys.name in sysname_count_dct:
count = sysname_count_dct[sys.name]
sysname_count_dct[sys.name] += 1
sysname = sys.name + "_" + str(count)
sysobj_name_dct[sys] = sysname
self.syslist_index[sysname] = sysidx