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Merged
murrayrm merged 10 commits into from
Mar 27, 2023
Merged

Feature enable doctest #868

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562701c
Enable doctest
henklaak Feb 21, 2023
c913c8f
Docs update
henklaak Feb 21, 2023
c4c275f
remove imports and use ct.fcn instead
murrayrm Mar 25, 2023
98fdb35
clean up/simplify docstring examples
murrayrm Mar 25, 2023
07cedd8
revert to use classes.pdf in doc/ (instead of classes.png)
murrayrm Mar 25, 2023
1d1c289
fix up rounding errors and matrix/array
murrayrm Mar 25, 2023
927f478
Merge branch 'main' into feature_enable_doctest
murrayrm Mar 25, 2023
c39bc87
fix up errors from merge with zpk feature
murrayrm Mar 25, 2023
983cbc0
revert use of round() in canonical examples (fix doctest failures next)
murrayrm Mar 27, 2023
df38286
skip doctests with rounding errors in GitHub Actions
murrayrm Mar 27, 2023
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remove imports and use ct.fcn instead
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@murrayrm
murrayrm committed Mar 25, 2023
commit c4c275fd639b995c96b931a52e41dfb14af86862
17 changes: 17 additions & 0 deletions control/__init__.py
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Expand Up @@ -42,6 +42,23 @@
"""
The Python Control Systems Library :mod:`control` provides common functions
for analyzing and designing feedback control systems.

Documentation is available in two forms: docstrings provided with the code,
and the python-control users guide, available from `the python-control
homepage <https://www.python-control.org>`_.

The docstring examples assume that the following import commands::

>>> import numpy as np
>>> import control as ct

Available subpackages
---------------------
flatsys
Differentially flat systems
optimal
Optimization-based control

"""

# Import functions from within the control system library
Expand Down
62 changes: 25 additions & 37 deletions control/bdalg.py
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Expand Up @@ -99,17 +99,15 @@ def series(sys1, *sysn):

Examples
--------
>>> from control import rss, series

>>> G1 = rss(3)
>>> G2 = rss(4)
>>> G = series(G1, G2) # Same as sys3 = sys2 * sys1
>>> G1 = ct.rss(3)
>>> G2 = ct.rss(4)
>>> G = ct.series(G1, G2) # Same as sys3 = sys2 * sys1
>>> G.ninputs, G.noutputs, G.nstates
(1, 1, 7)
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murrayrm marked this conversation as resolved.

>>> G1 = rss(2, inputs=2, outputs=3)
>>> G2 = rss(3, inputs=3, outputs=1)
>>> G = series(G1, G2) # Same as sys3 = sys2 * sys1
>>> G1 = ct.rss(2, inputs=2, outputs=3)
>>> G2 = ct.rss(3, inputs=3, outputs=1)
>>> G = ct.series(G1, G2) # Same as sys3 = sys2 * sys1
>>> G.ninputs, G.noutputs, G.nstates
(2, 1, 5)

Expand Down Expand Up @@ -156,17 +154,15 @@ def parallel(sys1, *sysn):

Examples
--------
>>> from control import parallel, rss

>>> G1 = rss(3)
>>> G2 = rss(4)
>>> G = parallel(G1, G2) # Same as sys3 = sys1 + sys2
>>> G1 = ct.rss(3)
>>> G2 = ct.rss(4)
>>> G = ct.parallel(G1, G2) # Same as sys3 = sys1 + sys2
>>> G.ninputs, G.noutputs, G.nstates
(1, 1, 7)

>>> G1 = rss(3, inputs=3, outputs=4)
>>> G2 = rss(4, inputs=3, outputs=4)
>>> G = parallel(G1, G2) # Add another system
>>> G1 = ct.rss(3, inputs=3, outputs=4)
>>> G2 = ct.rss(4, inputs=3, outputs=4)
>>> G = ct.parallel(G1, G2) # Add another system
>>> G.ninputs, G.noutputs, G.nstates
(3, 4, 7)

Expand Down Expand Up @@ -194,13 +190,11 @@ def negate(sys):

Examples
--------
>>> from control import negate, tf

>>> G = tf([2],[1, 1])
>>> G = ct.tf([2],[1, 1])
>>> G.dcgain() > 0
True

>>> Gn = negate(G) # Same as sys2 = -sys1.
>>> Gn = ct.negate(G) # Same as sys2 = -sys1.
>>> Gn.dcgain() < 0
True

Expand Down Expand Up @@ -252,11 +246,9 @@ def feedback(sys1, sys2=1, sign=-1):

Examples
--------
>>> from control import feedback, rss

>>> G = rss(3, inputs=2, outputs=5)
>>> C = rss(4, inputs=5, outputs=2)
>>> T = feedback(G, C, sign=1)
>>> G = ct.rss(3, inputs=2, outputs=5)
>>> C = ct.rss(4, inputs=5, outputs=2)
>>> T = ct.feedback(G, C, sign=1)
>>> T.ninputs, T.noutputs, T.nstates
(2, 5, 7)

Expand Down Expand Up @@ -316,17 +308,15 @@ def append(*sys):

Examples
--------
>>> from control import append, rss
>>> G1 = rss(3)

>>> G2 = rss(4)
>>> G = append(G1, G2)
>>> G1 = ct.rss(3)
>>> G2 = ct.rss(4)
>>> G = ct.append(G1, G2)
>>> G.ninputs, G.noutputs, G.nstates
(2, 2, 7)

>>> G1 = rss(3, inputs=2, outputs=4)
>>> G2 = rss(4, inputs=1, outputs=4)
>>> G = append(G1, G2)
>>> G1 = ct.rss(3, inputs=2, outputs=4)
>>> G2 = ct.rss(4, inputs=1, outputs=4)
>>> G = ct.append(G1, G2)
>>> G.ninputs, G.noutputs, G.nstates
(3, 8, 7)

Expand Down Expand Up @@ -371,11 +361,9 @@ def connect(sys, Q, inputv, outputv):

Examples
--------
>>> from control import append, connect, rss

>>> G = rss(7, inputs=2, outputs=2)
>>> G = ct.rss(7, inputs=2, outputs=2)
>>> K = [[1, 2], [2, -1]] # negative feedback interconnection
>>> T = connect(G, K, [2], [1, 2])
>>> T = ct.connect(G, K, [2], [1, 2])
>>> T.ninputs, T.noutputs, T.nstates
(1, 2, 7)

Expand Down
57 changes: 20 additions & 37 deletions control/canonical.py
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Expand Up @@ -39,21 +39,18 @@ def canonical_form(xsys, form='reachable'):

Examples
--------
>>> from control import canonical_form, tf, tf2ss

>>> G = tf([1],[1, 3, 2])
>>> Gs = tf2ss(G)

>>> Gc, T = canonical_form(Gs) # default reachable
>>> G = ct.tf([1],[1, 3, 2])
>>> Gs = ct.tf2ss(G)
>>> Gc, T = ct.canonical_form(Gs) # default reachable
>>> Gc.B # doctest: +SKIP
matrix([[1.],
[0.]])

>>> Gc, T = canonical_form(Gs, 'observable')
>>> Gc, T = ct.canonical_form(Gs, 'observable')
>>> Gc.C # doctest: +SKIP
matrix([[1., 0.]])

>>> Gc, T = canonical_form(Gs, 'modal')
>>> Gc, T = ct.canonical_form(Gs, 'modal')
>>> Gc.A # doctest: +SKIP
matrix([[-2., 0.],
[ 0., -1.]])
Expand Down Expand Up @@ -90,12 +87,9 @@ def reachable_form(xsys):

Examples
--------
>>> from control import reachable_form, tf, tf2ss

>>> G = tf([1],[1, 3, 2])
>>> Gs = tf2ss(G)

>>> Gc, T = reachable_form(Gs) # default reachable
>>> G = ct.tf([1],[1, 3, 2])
>>> Gs = ct.tf2ss(G)
>>> Gc, T = ct.reachable_form(Gs) # default reachable
>>> Gc.B # doctest: +SKIP
matrix([[1.],
[0.]])
Expand Down Expand Up @@ -157,12 +151,9 @@ def observable_form(xsys):

Examples
--------
>>> from control import observable_form, tf, tf2ss

>>> G = tf([1],[1, 3, 2])
>>> Gs = tf2ss(G)

>>> Gc, T = observable_form(Gs)
>>> G = ct.tf([1],[1, 3, 2])
>>> Gs = ct.tf2ss(G)
>>> Gc, T = ct.observable_form(Gs)
>>> Gc.C # doctest: +SKIP
matrix([[1., 0.]])

Expand Down Expand Up @@ -227,17 +218,14 @@ def similarity_transform(xsys, T, timescale=1, inverse=False):

Examples
--------
>>> import numpy as np
>>> from control import similarity_transform, tf, tf2ss

>>> G = tf([1],[1, 3, 2])
>>> Gs = tf2ss(G)
>>> G = ct.tf([1],[1, 3, 2])
>>> Gs = ct.tf2ss(G)
>>> Gs.A # doctest: +SKIP
matrix([[-3., -2.],
[ 1., 0.]])

>>> T = np.array([[0,1],[1,0]])
>>> Gt = similarity_transform(Gs, T)
>>> Gt = ct.similarity_transform(Gs, T)
>>> Gt.A # doctest: +SKIP
matrix([[ 0., 1.],
[-2., -3.]])
Expand Down Expand Up @@ -438,11 +426,9 @@ def bdschur(a, condmax=None, sort=None):

Examples
--------
>>> from control import bdschur, tf, tf2ss

>>> G = tf([1],[1, 3, 2])
>>> Gs = tf2ss(G)
>>> amodal, tmodal, blksizes = bdschur(Gs.A)
>>> G = ct.tf([1],[1, 3, 2])
>>> Gs = ct.tf2ss(G)
>>> amodal, tmodal, blksizes = ct.bdschur(Gs.A)
>>> amodal #doctest: +SKIP
array([[-2., 0.],
[ 0., -1.]])
Expand Down Expand Up @@ -516,12 +502,9 @@ def modal_form(xsys, condmax=None, sort=False):

Examples
--------
>>> from control import modal_form, tf, tf2ss

>>> G = tf([1],[1, 3, 2])
>>> Gs = tf2ss((G))

>>> Gc, T = modal_form(Gs) # default reachable
>>> G = ct.tf([1],[1, 3, 2])
>>> Gs = ct.tf2ss((G))
>>> Gc, T = ct.modal_form(Gs) # default reachable
>>> Gc.A # doctest: +SKIP
matrix([[-2., 0.],
[ 0., -1.]])
Expand Down
48 changes: 18 additions & 30 deletions control/config.py
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Expand Up @@ -69,17 +69,15 @@ def set_defaults(module, **keywords):

Examples
--------
>>> from control import defaults, reset_defaults, set_defaults

>>> defaults['freqplot.number_of_samples']
>>> ct.defaults['freqplot.number_of_samples']
1000
>>> set_defaults('freqplot', number_of_samples=100)
>>> defaults['freqplot.number_of_samples']
>>> ct.set_defaults('freqplot', number_of_samples=100)
>>> ct.defaults['freqplot.number_of_samples']
100

>>> # do some customized freqplotting
>>> reset_defaults()
>>> defaults['freqplot.number_of_samples']
>>> ct.reset_defaults()
>>> ct.defaults['freqplot.number_of_samples']
1000

"""
Expand All @@ -97,17 +95,15 @@ def reset_defaults():

Examples
--------
>>> from control import defaults, reset_defaults, set_defaults

>>> defaults['freqplot.number_of_samples']
>>> ct.defaults['freqplot.number_of_samples']
1000
>>> set_defaults('freqplot', number_of_samples=100)
>>> defaults['freqplot.number_of_samples']
>>> ct.set_defaults('freqplot', number_of_samples=100)
>>> ct.defaults['freqplot.number_of_samples']
100

>>> # do some customized freqplotting
>>> reset_defaults()
>>> defaults['freqplot.number_of_samples']
>>> ct.reset_defaults()
>>> ct.defaults['freqplot.number_of_samples']
1000

"""
Expand Down Expand Up @@ -213,11 +209,9 @@ def use_matlab_defaults():

Examples
--------
>>> from control import use_matlab_defaults, reset_defaults

>>> use_matlab_defaults()
>>> ct.use_matlab_defaults()
>>> # do some matlab style plotting
>>> reset_defaults()
>>> ct.reset_defaults()

"""
set_defaults('freqplot', dB=True, deg=True, Hz=False, grid=True)
Expand All @@ -235,11 +229,9 @@ def use_fbs_defaults():

Examples
--------
>>> from control import use_fbs_defaults, reset_defaults

>>> use_fbs_defaults()
>>> ct.use_fbs_defaults()
>>> # do some FBS style plotting
>>> reset_defaults()
>>> ct.reset_defaults()

"""
set_defaults('freqplot', dB=False, deg=True, Hz=False, grid=False)
Expand Down Expand Up @@ -271,11 +263,9 @@ class and functions. If flat is `False`, then matrices are

Examples
--------
>>> from control import use_numpy_matrix, reset_defaults

>>> use_numpy_matrix(True, False)
>>> ct.use_numpy_matrix(True, False)
>>> # do some legacy calculations using np.matrix
>>> reset_defaults()
>>> ct.reset_defaults()

"""
if flag and warn:
Expand All @@ -294,12 +284,10 @@ def use_legacy_defaults(version):

Examples
--------
>>> from control import use_legacy_defaults, reset_defaults

>>> use_legacy_defaults("0.9.0")
>>> ct.use_legacy_defaults("0.9.0")
(0, 9, 0)
>>> # do some legacy style plotting
>>> reset_defaults()
>>> ct.reset_defaults()

"""
import re
Expand Down
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