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I/O system improvements: linearize, interconnect, docstrings #497

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Merged
murrayrm merged 12 commits into from
Jan 5, 2021
Merged

I/O system improvements: linearize, interconnect, docstrings #497

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fa041b6
allow naming of linearized system signals
murrayrm Dec 29, 2020
4f08382
PEP8 cleanup
murrayrm Jan 1, 2021
e343a33
append _linearize for system name + unit tests
murrayrm Jan 1, 2021
50e61a0
add keyword to geterate strictly proper rss systems
murrayrm Jan 1, 2021
4e46c4a
update docs, tests for InterconnectedSystem + small refactoring of ga…
murrayrm Jan 1, 2021
da04036
create LinearInterconnectedSystems for interconnections of linear sys…
murrayrm Jan 2, 2021
ff4a351
turn off selected unit tests for scipy-0.19
murrayrm Jan 2, 2021
4f04f48
updated sphinx documentation + changed to LinearICSystem
murrayrm Jan 2, 2021
14fc96e
allow default linearized system name to be customized
murrayrm Jan 3, 2021
e767986
fix bug in iosys unit test (reset_defaults)
murrayrm Jan 3, 2021
488edf5
use editdefaults fixture and matrixfilter mark for unit testing
murrayrm Jan 5, 2021
5ed0f96
fix issue with np.matrix deprecation in iosys_test.py
murrayrm Jan 5, 2021
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allow naming of linearized system signals
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@murrayrm
murrayrm committed Jan 1, 2021
commit fa041b695f021b4baf60b495ea9fd3ff29c9922e
24 changes: 21 additions & 3 deletions control/iosys.py
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Original file line number Diff line number Diff line change
Expand Up @@ -494,7 +494,8 @@ def feedback(self, other=1, sign=-1, params={}):
# Return the newly created system
return newsys

def linearize(self, x0, u0, t=0, params={}, eps=1e-6):
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
Expand Down Expand Up @@ -547,8 +548,20 @@ def linearize(self, x0, u0, t=0, params={}, eps=1e-6):
D[:, i] = (self._out(t, x0, u0 + du) - H0) / eps

# Create the state space system
linsys = StateSpace(A, B, C, D, self.dt, remove_useless=False)
return LinearIOSystem(linsys)
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:
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."""
Expand Down Expand Up @@ -1759,6 +1772,11 @@ def linearize(sys, xeq, ueq=[], t=0, params={}, **kw):
params : dict, optional
Parameter values for the systems. Passed to the evaluation functions
for the system as default values, overriding internal defaults.
copy : bool, Optional
If `copy` is True, copy the names of the input signals, output signals,
and states to the linearized system.
name : string, optional
Set the name of the linearized system.

Returns
-------
Expand Down