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Merged
murrayrm merged 5 commits into from
Mar 19, 2021
Merged

new dynamics and output functions for statespace and iosystems #558

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e99273a
added dynamics and output to statespace and iosystems
sawyerbfuller Mar 11, 2021
9678bd1
add remark in docstring for iosys._rhs and _out that they are intende…
sawyerbfuller Mar 11, 2021
c0f7d06
fix to possibly fix pytest errors when using matrix
sawyerbfuller Mar 11, 2021
64d0dde
another try at fixing failing unit tests
sawyerbfuller Mar 11, 2021
23c4b09
fixes/cleanups suggested by @murrayrm
sawyerbfuller Mar 12, 2021
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fix to possibly fix pytest errors when using matrix
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@sawyerbfuller
sawyerbfuller committed Mar 11, 2021
commit c0f7d06ff86894d37af3fcef65a9484a93ee0a13
30 changes: 19 additions & 11 deletions control/statesp.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1262,16 +1262,20 @@ def dynamics(self, *args):
dx/dt or x[t+dt] : ndarray
"""
if len(args) not in (2, 3):
raise ValueError("received"+len(args)+"args, expected 2 or 3")
if np.size(args[1]) != self.nstates:
raise ValueError("received" + len(args) + "args, expected 2 or 3")

x = np.reshape(args[1], (-1, 1)) # force to a column in case matrix
if np.size(x) != self.nstates:
raise ValueError("len(x) must be equal to number of states")

if len(args) == 2: # received t and x, ignore t
return self.A.dot(args[1]).reshape((-1,)) # return as row vector
return self.A.dot(x).reshape((-1,)) # return as row vector
else: # received t, x, and u, ignore t
if np.size(args[2]) != self.ninputs:
u = np.reshape(args[2], (-1, 1)) # force to a column in case matrix
if np.size(u) != self.ninputs:
raise ValueError("len(u) must be equal to number of inputs")
return self.A.dot(args[1]).reshape((-1,)) \
+ self.B.dot(args[2]).reshape((-1,)) # return as row vector
return self.A.dot(x).reshape((-1,)) \
+ self.B.dot(u).reshape((-1,)) # return as row vector

def output(self, *args):
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"""Compute the output of the system
Expand Down Expand Up @@ -1306,15 +1310,19 @@ def output(self, *args):
"""
if len(args) not in (2, 3):
raise ValueError("received"+len(args)+"args, expected 2 or 3")
if np.size(args[1]) != self.nstates:

x = np.reshape(args[1], (-1, 1)) # force to a column in case matrix
if np.size(x) != self.nstates:
raise ValueError("len(x) must be equal to number of states")

if len(args) == 2: # received t and x, ignore t
return self.C.dot(args[1]).reshape((-1,)) # return as row vector
return self.C.dot(x).reshape((-1,)) # return as row vector
else: # received t, x, and u, ignore t
if np.size(args[2]) != self.ninputs:
u = np.reshape(args[2], (-1, 1)) # force to a column in case matrix
if np.size(u) != self.ninputs:
raise ValueError("len(u) must be equal to number of inputs")
return self.C.dot(args[1]).reshape((-1,)) \
+ self.D.dot(args[2]).reshape((-1,)) # return as row vector
return self.C.dot(x).reshape((-1,)) \
+ self.D.dot(u).reshape((-1,)) # return as row vector

def _isstatic(self):
"""True if and only if the system has no dynamics, that is,
Expand Down