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Merged
murrayrm merged 12 commits into from
Jun 9, 2019
Merged

Updated examples to be PEP compliant #307

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1f2a252
Updated for Python 3
billtubbs May 19, 2019
bac4d87
Updated for Python 3
billtubbs May 19, 2019
fa31119
Tested in Python 3.7
billtubbs Jun 8, 2019
0d3a656
Edited to comply with Python PEPs
billtubbs Jun 8, 2019
7e70e8a
Removed spacing around `*` and `/` operators for consistency and as p…
billtubbs Jun 8, 2019
ebc5137
Refactored name 'ord' which conflicts with built-in.
billtubbs Jun 8, 2019
fddbf0f
Reformatted comments
billtubbs Jun 8, 2019
1555a5b
Reversed previous mistaken edit.
billtubbs Jun 8, 2019
ddad0a7
Removed tab characters
billtubbs Jun 8, 2019
51a772b
Replaced np.matrix with np.array objects
billtubbs Jun 8, 2019
0df099f
Replaced np.matrix with np.array objects
billtubbs Jun 8, 2019
5648440
Reverted previous mistaken edit
billtubbs Jun 8, 2019
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Updated for Python 3
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@billtubbs
billtubbs committed May 19, 2019
commit bac4d87cf0883ef0740195fa99fde891fd47bfb2
10 changes: 7 additions & 3 deletions examples/secord-matlab.py
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
# secord.py - demonstrate some standard MATLAB commands
# secord.py - demonstrate some standard MATLAB commands
# RMM, 25 May 09

from matplotlib.pyplot import * # Grab MATLAB plotting functions
Expand All @@ -13,21 +13,25 @@
A = [[0, 1.], [-k/m, -b/m]]
B = [[0], [1/m]]
C = [[1., 0]]
sys = ss(A, B, C, 0);
sys = ss(A, B, C, 0)

# Step response for the system
figure(1)
yout, T = step(sys)
plot(T.T, yout.T)
show()

# Bode plot for the system
figure(2)
mag,phase,om = bode(sys, logspace(-2, 2),Plot=True)
mag, phase, om = bode(sys, logspace(-2, 2), Plot=True)
show()

# Nyquist plot for the system
figure(3)
nyquist(sys, logspace(-2, 2))
show()

# Root lcous plut for the system
figure(4)
rlocus(sys)
show()
20 changes: 11 additions & 9 deletions examples/type2_type3.py
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Expand Up @@ -5,7 +5,7 @@
from matplotlib.pyplot import * # Grab MATLAB plotting functions
from control.matlab import * # MATLAB-like functions
from scipy import pi
integrator = tf( [0, 1], [1, 0] ) # 1/s
integrator = tf([0, 1], [1, 0]) # 1/s

# Parameters defining the system
J = 1.0
Expand All @@ -28,16 +28,18 @@

# System Transfer Functions
# tricky because the disturbance (base motion) is coupled in by friction
closed_loop_type2 = feedback(C_type2*feedback(P,friction),gyro)
disturbance_rejection_type2 = P*friction/(1.+P*friction+P*C_type2)
closed_loop_type3 = feedback(C_type3*feedback(P,friction),gyro)
disturbance_rejection_type3 = P*friction/(1.+P*friction+P*C_type3)
closed_loop_type2 = feedback(C_type2*feedback(P, friction), gyro)
disturbance_rejection_type2 = P*friction/(1. + P*friction+P*C_type2)
closed_loop_type3 = feedback(C_type3*feedback(P, friction), gyro)
disturbance_rejection_type3 = P*friction/(1. + P*friction + P*C_type3)

# Bode plot for the system
figure(1)
bode(closed_loop_type2, logspace(0,2)*2*pi, dB=True, Hz=True) # blue
bode(closed_loop_type3, logspace(0,2)*2*pi, dB=True, Hz=True) # green
bode(closed_loop_type2, logspace(0, 2)*2*pi, dB=True, Hz=True) # blue
bode(closed_loop_type3, logspace(0, 2)*2*pi, dB=True, Hz=True) # green
show()

figure(2)
bode(disturbance_rejection_type2, logspace(0,2)*2*pi, Hz=True) # blue
bode(disturbance_rejection_type3, logspace(0,2)*2*pi, Hz=True) # green
bode(disturbance_rejection_type2, logspace(0, 2)*2*pi, Hz=True) # blue
bode(disturbance_rejection_type3, logspace(0, 2)*2*pi, Hz=True) # green
show()