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Merged
murrayrm merged 2 commits into from
Oct 19, 2024
Merged

Improve code style, markov #1051

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df71ed6
Add space after commas
KybernetikJo Oct 17, 2024
b70c0ed
Update docstring hash for markov
KybernetikJo Oct 19, 2024
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Add space after commas
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@KybernetikJo
KybernetikJo committed Oct 17, 2024
commit df71ed69eb7931a96cbba7e46c4a8c01c421a563
12 changes: 6 additions & 6 deletions control/modelsimp.py
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Expand Up @@ -667,21 +667,21 @@ def markov(*args, m=None, transpose=False, dt=None, truncate=False):

# Set up the full problem
# Create matrix of (shifted) inputs
UUT = np.zeros((p*m,(l)))
UUT = np.zeros((p*m, l))
for i in range(m):
# Shift previous column down and keep zeros at the top
UUT[i*p:(i+1)*p,i:] = Umat[:,:l-i]
UUT[i*p:(i+1)*p, i:] = Umat[:, :l-i]

# Truncate first t=0 or t=m time steps, transpose the problem for lsq
YY = Ymat[:,t:].T
UU = UUT[:,t:].T
YY = Ymat[:, t:].T
UU = UUT[:, t:].T

# Solve for the Markov parameters from YY = UU @ H.T
HT, _, _, _ = np.linalg.lstsq(UU, YY, rcond=None)
H = HT.T/dt # scaling

H = H.reshape(q,m,p) # output, time*input -> output, time, input
H = H.transpose(0,2,1) # output, input, time
H = H.reshape(q, m, p) # output, time*input -> output, time, input
H = H.transpose(0, 2, 1) # output, input, time

# for siso return a 1D array instead of a 3D array
if q == 1 and p == 1:
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