2014-08-09 Richard Murray * Cloned python-control/code from SourceForge, mapping SF user names to git format (name, e-mail) * Pushed to python-control/python-control on GitHub * Converted subversion branches/tags to git branches/tags ==== Repository moved from SourceForge to GitHub ==== ---- control-0.6d released ----- 2014-03-22 Richard Murray * src/matlab.py (ss): allow five arguments to create a discrete time system. From Roberto Bucher, 12 Jan 2014 2014-03-22 Richard Murray * src/bdalg.py (feedback): allow FRD for feedback() 2014-03-22 Richard Murray * tests/discrete_test.py (TestDiscrete.test_sample_system): added conversions using tustin and zoh to catch 'dt' bug #5 * src/dtime.py (sample_system): Changed 'dt' to 'Ts' to fix bug #4 * tests/frd_test.py (TestFRD.testbdalg): added unit tests for bdalg functions operating on FRD data * src/bdalg.py (series, parallel, negate, feedback): updated documentation to note that FRD ovjects work. (feedback): updated conversions to allow for FRD 2013-07-15 Richard Murray * src/frdata.py, src/xferfcn.py: updated to use __truediv__ and __rtruediv__ for compatibility with python3 2013-07-14 Richard Murray * src/dtime.py (sample_system): added check to make sure cont2discrete is available in scipy.signal (sample_system): added docstring 2013-06-24 Richard Murray * tests/minreal_test.py (TestMinreal.testMinrealBrute), src/xferfcn.py (_convertToTransferFunction), src/statesp.py (StateSpace.__rmul__), src/margins.py (stability_margins): changed exception syntax to be python3 compatibile (works for python2.6+) 2013-06-10 Richard Murray * src/xferfcn.py (TransferFunction.horner): small fix to docstring * src/freqplot.py (nyquist_plot): small fix to docstring 2013-06-09 Richard Murray * tests/bdalg_test.py (TestFeedback.testScalarSS) (TestFeedback.testScalarTF): added simple test of default argument to feedback() for state space and transfer function systems * tests/frd_test.py (TestFRD.testFeedback): added test of default argument to feedback() for FRD type * src/bdalg.py (feedback): * src/frdata.py (FRD.feedback): * src/statesp.py (StateSpace.feedback): patched in default value of 1 for other system in feedback(). Contributed by Ryan Krauss * tests/xferfcn_test.py (TestXferFcn.testEvalFrMIMO) (TestXferFcn.testEvalFrSISO): added tests of __call__ version of evalfr. * src/xferfcn.py (TransferFunction.__call__): patched in new __call__ functionality from Ryan Krauss , but modified to use evalfr (works with MIMO). SISO transfer functions return a single complex number, MIMO transfer functions return a matrix of complex numbers. 2013-05-23 Rene van Paassen * src/margin.py: re-vamped stability_margins function. Now uses analytical method for TF and state-space, works on FRD objects too, and can optionally return all margins found for the analytical method. * src/xferfcn.py and src/frdata.py: Now return array result for fresp when called with an iterable frequency vector * src/xferfcn.py and src/statesp.py: added minreal functions * src/bdalg.py: implemented append and connect functions (old version, with indexes, not with names) * src/matlab.py: added connect, append, minreal * src/xferfcn.py and src/statesp.py: added/corrected __rmul__. In most cases a gain matrix (np.matrix) may now be used in combination with ss or tf systems. 2012-11-10 Richard Murray * src/canonical.py: new module implementing conversions to selected canonical forms: canonical_form(), reachable_form() implemented * src/lti.py (issiso): new function to quickly check if a system is single input, single output or not 2012-11-04 Richard Murray * src/__init__.py: added action item to separate out matlab module functionality (eventually) * src/matlab.py: added code for setting up MATLAB defaults if matlab submodule is imported instead of main (control) module. See comments in __init.py__ for what needs to be done to implement. * src/freqplot.py (bode_plot): moved default values of plotting options to config module to allow easier use override * src/config.py: new module to help set package defaults * src/xferfcn.py (_convertToTransferFunction): removed extraneous print statements if slycot is not installed * src/statesp.py (StateSpace.__str__): fixed error in printing timebase when dt is None (python 3) ---- control-0.6c released ----- 2012-11-03 Richard Murray * doc/modules.rst: updated documentation format so that items are broken down by functionality and not internal module name. Still not complete, but most functions should now show up in documentation. * doc/index.rst: got rid of todos from documentation (not formatted correctly and shouldn't show up in user documentation) * src/lti.py: added missing docstrings * doc/intro.rst: small tweaks to text, including adding a link to FBS 2012-11-03 Richard Murray * src/rlocus.py (_RLSortRoots): convert output of range() to explicit list for python 3 compatibility * tests/modelsimp_test.py, tests/slycot_convert_test.py, tests/mateqn_test.py, tests/statefbk_test.py: updated test suites to skip specific tests that require slycot if it is not installed * src/exception.py (slycot_check): added a function to check if slycot is installed * README: updated readme to include information about running nosetests, which works in python3 (unlike the test_all.py script) * tests/test_control_matlab.py, tests/test_all.py: set to executable so that nosetests does not run this file (it already runs all unit tests in this directory). Add comments at top talking about tests. * tests/discrete_test.py (TestDiscrete.test_discrete_bode): explicitly create a list from map() output for python 3 * src/frdata.py: removed long data type from comparisons for constant systems (not supported in python3) * src/xferfcn.py (TransferFunction.freqresp): force frequencies to be a list (map returns iterator in python3) * src/lti.py (isdtime, isctime): updated timebase checking since python3 won't allow dt to be compared to integer * src/__init__.py: updated frdata import to python3 compatible form * src/statesp.py (_convertToStateSpace): fixed exception syntax to be python3 compatible * examples/pvtol-nested.py: converted print statements to be python3 compatible * doc/class_strings.rst: added FRD class to list of classes that show up in the user documentation * examples/rss-balred.py: fixed error in output argument order for call to matlab.impulse * ../README: updated readme file as a test of post-commit hook 2012-11-02 Richard Murray * doc/conf.py, setup.py: updated version number to 0.6c * tests/frd_test.py: unit tests for FRD data type (suite): added suite() function to allow test_all.py to work * tests/xferfcn_test.py (TestXferFcn.testMinreal): new unit test * src/xferfcn.py (TransferFunction.minreal): new function for removing cancelling pole/zero pairs, contributed by M.M. (Rene) van Paassen * src/statesp.py (_convertToStateSpace): new functionality for converting a matrix to a constant system * src/modelsimp.py (minreal): removed extraneous code (moved to xferfcn.py) * src/frdata.py: new file implementing FRD data type, contributed by M.M. (Rene) van Paassen * src/xferfcn.py: resolved conflict between versions ---- control-0.6b released ----- 2012-11-02 Richard Murray * src/xferfcn.py, src/statesp.py, src/lti.py, src/bdalg.py: constants must now be of type 'int' rather than 'long' (for python 3 compatibility) * tests/statefbk_test.py, tests/slycot_convert_test.py, tests/convert_test.py: added import __future__ calls for python 3 compatibility; updated print calls * src/modelsimp.py, src/xferfcn.py, src/delay.py, src/phaseplot.py, src/margins.py, src/statesp.py, src/mateqn.py: added import __future__ calls for python 3 compatibility 2012-11-02 Richard Murray * src/xferfcn.py, src/timeresp.py, src/statesp.py, src/statefbk.py, src/robust.py, src/rlocus.py, src/pzmap.py, src/phaseplot.py, src/nichols.py, src/modelsimp.py, src/matlab.py, src/margins.py, src/freqplot.py, src/ctrlutil.py, src/bdalg.py: globally referenced import commands for python 3.x * src/__init__.py: changed import commands to be global instead of local ('from control.bdalg ...' instead of 'from bdalg ...') 2012-10-31 Richard Murray * src/xferfcn.py (TransferFunction._common_den): converted print statements to python 3 compatible form and included __future__.print_function * src/phaseplot.py: converted print statements to python 3 compatible form and included __future__.print_function * src/mateqn.py (lyap, dlyap): converted except T, E to except T(E) * src/margins.py: converted print statements to python 3 compatible form and included __future__.print_function * src/xferfcn.py (TransferFunction.__add__, __mul__, __div__, feedback): converted raise T, E to raise T(E) for python 3 * src/xferfcn.py (TransferFunction.returnScipySignalLti): fixed raise(T(E)) bug * src/statesp.py (_rss_generate): fixed raise(T(E)) bug * src/statefbk.py (acker, gram): converted raise T, E to raise T(E) for python 3 * src/modelsimp.py (hsvd, modred, balred): fixed raise(T(E)) bug and converted raise T, E to raise T(E) for python 3 * src/margins.py (stability_margins): fixed raise(T(E)) bug * src/statesp.py: converted raise T, E to raise T(E) for python 3 * tests/test_all.py: converted print statements to python 3 compatible form and included __future__.print_function * tests/statefbk_test.py (TestStatefbk.setUp): turned off debugging flag (accidently left on) ---- control-0.6a released ----- 2012-10-27 Richard Murray * src/statefbk.py (acker): small updates to docstring * src/bdalg.py (feedback): fixed up docstring formatting (for sphinx) * tests/statefbk_test.py (TestStatefbk.testAcker): skip ill-conditioned systems and loosened tolerances on acker() testing * src/lti.py (timebaseEqual): replaced "type(sys.dt) == NoneType" with "sys.dt is None", based on feedback from Luke Peterson that NoneType is deprecated in python 3. 2012-10-22 Richard Murray * examples/genswitch.py (genswitch): updated calls to legend, fixing problem pointed out by Scott Livingston 2012-10-19 Richard Murray * src/matlab.py (rlocus): reverted change in default argument processing for klist. This has some negative consequences: http://www.deadlybloodyserious.com/2008/05/default-argument-blunders/ 2012-10-18 Richard Murray * src/freqplot.py (gangof4_plot, nyquist_plot): discrete time systems supported (through fresp) * src/statesp.py (StateSpace.evalfr): added warning if discrete time evaluation is above Nyquist frequency * src/xferfcn.py (TransferFunction.evalfr, freqresp): : added warning if discrete time evaluation is above Nyquist frequency * tests/discrete_test.py (TestDiscrete.test_discrete_bode): rudimentary unit test for discrete bode plot * src/freqplot.py (bode_plot): fixed bug where input frequency list was being overwritten by default frequency range * src/xferfcn.py (TransferFunction.evalfr, freqresp): handles dtime * src/statesp.py (StateSpace.evalfr): handles dtime * src/lti.py (timebaseEqual): converted function to take systems as inputs instead of dt as input (also affected functions in statesp.py and xferfcn.py) * src/lti.py (timebase): timebase now returns dt instead of 'ctime'/'dtime' 2012-10-13 Richard Murray * src/lti.py (timebase): new function to return timebase. Doesn't yet handle the case where dt == None. 2012-10-07 Richard Murray * src/matlab.py (c2d): MATLAB compatible function (just calls sample_system) * tests/discrete_test.py (TestDiscrete.test_sample_system): unit test for sampling * src/dtime.py (sample_system, _c2dmatched): new functions, based on contributiosn from Benjamin White * src/dtime.py: added back this file, this time with sampling routes to convert from continuous to discrete time * src/timeresp.py (forced_response): added discrete time simulator, using dlsim from scipy.signal 2012-10-07 Richard Murray * doc/conf.py: fixed release number (0.6a instead of 0.6c) * src/__init__.py: moved timebase functions from dtime to lti * src/lti.py: moved isdtime, isctime, timebase, and timebaseEqual from dtime.py to lti.py. Moved initialization of dt to Lti.__init__(). * src/statesp.py (StateSpace.__init__): Moved dt initialization to Lti object initialization * src/xferfcn.py (TransferFunction.__init__): Moved dt initialization to Lti object initialization 2012-10-06 Richard Murray * tests/discrete_test.py: added additional tests for dt = True cases * src/statesp.py (StateSpace.__str__): show sampling time as 'unspecified' if dt is a boolean and equal to True * src/xferfcn.py (TransferFunction.__str__): don't print sampling time (dt) if dt = True (discrete time with unspecified time base) * src/dtime.py: added code to support dt = True for unspecified sampling time for a discrete time system * src/bdalg.py: much -> must in docstrings 2012-10-06 Richard Murray * src/dtime.py: new module with functions for operating on discrete time systems * src/modelsimp.py: added NotImplementedError for discrete time * src/freqplot.py: added NotImplementedError for discrete time * src/bdalg.py: added documentation about timebases (discrete versus continuous) * src/statesp.py (_mimo2siso): include sampling time * src/xferfcn.py (TransferFunction.__str__): added optional var keyword to allow any symbol to be used * src/matlab.py (tf2ss): added code required to keep track of dt * src/xferfcn.py (TransferFunction.__str__): added additional string for discrete time system, plus use 'z' for polynomial variable (TransferFunction.__neg__): set sampling time for negation (TransferFunction.__add__): added test for same sampling time (TransferFunction.__mul__): added test for same sampling time (TransferFunction.__div__): added test for same sampling time (TransferFunction.feedback): added test for same sampling time * src/statesp.py (StateSpace.__str__): added additional string for discrete time system (StateSpace.__add__): added test for same sampling time (StateSpace.__mul__): added test for same sampling time (StateSpace.__rmul__): set sampling time for product (StateSpace.__neg__): set sampling time for negation (StateSpace.feedback): added test for same sampling time * tests/discrete_test.py (TestDiscrete): unit tests for discrete time systems * src/xferfcn.py (TransferFunction.__init__): added dt class variable for discrete time systems * src/statesp.py (StateSpace.__init__): added dt class variable for discrete time systems ---- control-0.5c released ----- 2012-10-03 Richard Murray * tests/matlab_test.py (TestMatlab.testSsdata): unit test * src/matlab.py (ssdata, tfdata): new functions to return state space and transfer function object data. For transfer functions, currenly requires SISO system * src/freqplot.py (bode_plot): Adding np.atleast_1d to the np.squeeze calculations makes it possible to use a single value frequency list (contributed by Benjamin White) 2012-09-09 Richard Murray * tests/statefbk_test.py (TestStatefbk.testAcker): unit test * src/statefbk.py (acker): added acker() from Roberto Bucher. 2012-08-29 Richard Murray * src/xferfcn.py (TransferFunction._common_den): fixed up code for case where poles have multiplicity > 1. Set end limits of check to avoid overruning the list + combine complex conjugate pole pairs from the outside in to prevent small errors from growing. 2012-08-26 Richard Murray * tests/convert_test.py (TestConvert.testConvert): replaced previous test of transfer function coefficients with a frequency response test. This is necessary because various degenerate conditions will generate a situation where the transfer functions are of different forms but still equal. Eg 0/1 = 1e-17 s + 1e-16 / (s^2 + s + 1). Still getting errors, but looks like actual problem in conversion. * src/statesp.py (_mimo2siso): set default value for warn_conversion to False * tests/convert_test.py (TestConvert.testConvert): Added check to make sure that we don't create problems with uncontrollable or unobservable systems. 2012-08-25 Richard Murray * src/xferfcn.py (TransferFunction._common_den): identified bug in the way that common denominators are computed; see comments in code regarding complex conjugate pairs. * src/statefbk.py (place): repalced nd.size(placed_eigs) with len(placed_eigs) to fix intermittent problems pointed out by Roberto Bucher in control-0.3c. * tests/rlocus_test.py (TestRootLocus.testRootLocus): added sort() to test to get rid of problems in which ordering was generating an error. * src/freqplot.py (nyquist_plot): added code from Kevin Davies to label frequency points in Nyquist plot * src/__init__.py: import non-conflicting MATLAB functions by default * src/freqplot.py (bode_plot, nyquist_plot): simplified code and removed unneeded options. To set color, linestyle, etc use keywords and pass to matplotlib. 2012-08-24 Richard Murray * src/freqplot.py: added in plot enhancements from Kevin Davies (bode_plot): pass optional arguments and keywords to matplotlib (get_pow1000): new function for determinine engineering exponent (gen_prefix): new function to get SI prefix for power of 1000 * src/freqplot.py (bode_plot): removed extraneous phase_deg calculation 2012-01-07 Richard Murray * doc/modules.rst: added new sections for analysis, synthesis, frequency plots and time response. * doc/index.rst (Contents): added modules and examples. * src/xferfcn.py (_convertToTransferFunction): added check for slycot import error. If not present, use signal.lti to perform the conversion. Only works for SISO. * src/statesp.py (_convertToStateSpace): added check for slycot import error, to allow basic functionality without the presence of slycot (contributed by Ryan Krauss). * tests/slycot_convert_test.py (TestSlycot.testTF): moved slycot import into test function, so that test script still works even if time response is not present. 2011-08-09 Richard Murray * src/timeresp.py: fixed doc reference to time-series-convention 2011-08-08 Richard Murray * doc/index.rst, doc/modules.rst: Moved MATLAB section into python-control modules file 2011-08-07 Richard Murray * doc/conf.py: added autosummary extension * doc/timeresp.rst: New file containing listing of functions for time responses (step, initial, etc) * doc/freqplot.rst: New file listing functions for frequency plots (bode, nyquist, etc) * doc/modules.rst: New file that contains a listing of the major modules in the toolbox * doc/index.rst (Contents): Rearranged contents to put modules documentation in a separate section. Also added examples section (not quite ready yet). 2011-08-07 Richard Murray * examples/rss-balred.py: reordered outputs from call to matlab.step (missed this the first time around) * doc/matlab_strings.rst: Matlab -> MATLAB (proper spelling) * setup.py, doc/conf.py: updated version to 0.5b 2011-08-07 Richard Murray * doc/conf.py: Updated version numbers to 0.5a, regenerated documentation and reposted on web (note that 0.5a tag and source distribution have this wrong) ---- control-0.5a released ----- 2011-08-07 Richard Murray * setup.py: updated version number; next release will be 0.5a since the changes in function names and argument/return value order (for time reponses) require small updates in code * examples/secord-matlab.py, examples/pvtol-nested-ss.py, examples/test-response.py, examples/pvtol-nested.py: fixed small bug in order of output arguments for step command 2011-08-06 Richard Murray * src/matlab.py (ngrid): copy documentation from nichols_grid * src/__init__.py: changed import commands to import specific functions rather than '*' (better modularity) * src/freqplot.py: default function names are now bode_plot, nyquist_plot and gangof4_plot (still with aliases to non-"_plot" versions) * src/nichols.py (nichols_plot): updated nichols to nichols_plot for consistency with other python-control plotting functions. Set up alias for original name * src/margins.py: StabilityMargins, PhaseCrossoverFrequencies -> stability_margins, phase_crossover_frequencies * src/phaseplot.py: changed PhasePlot and boxgrid to phase_plot, box_grid * src/timeresp.py: changed ForcedReponse, InitialReponse, ImpulseReponse and StepResponse to forced_response, initial_response, impulse_response and step_response. * src/rlocus.py: changed RootLocus to root_locus for better compatibility with PEP 8. Also updated unit tests and examples. 2011-07-25 Richard Murray * tests/phaseplot_test.py: updated unit tests to use new call signatures * examples/phaseplots.py: updated calls to PhasePlot to use new argument structure * src/phaseplot.py (PhasePlot): Updated call signature to be more pythonic and fixed up documentation. * examples/genswitch.py (genswitch): added new example showing PhasePlot functionality * src/phaseplot.py (boxgrid): added function to compute initial conditions around the edges of a box 2011-07-24 Richard Murray * tests/margin_test.py: added simple unit tests for margin functions (initial versions just call functions; some comparisons missing) * examples/README: added missing README file * examples/phaseplots.py: FBS examples for phaseplot * tests/phaseplot_test.py: unit tests for phaseplot * src/phaseplot.py: initial cut at phase portrait function, built from amphaseplot (Feeback Systems [FBS], Astrom and Murray, 2008) 2011-07-15 Richard Murray * tests/matlab_test.py (TestMatlab): added unittest for margin() commands (calling format only) * src/statesp.py (StateSpace): updated comments * tests/margin_test.py: set up unit tests for StabilityMargins() and PhaseCrossoverFrequencies() * src/__init__.py: added margins.py to __init__ 2011-07-14 Richard Murray * src/margins.py (GainPhaseMargin): moved freqplot.MarginPlot to margin.StabilityMargins (MarginPlot didn't actually plot anything) * src/margins.py (PhaseCrossoverFrequencies): added new function to compute frequencies that we cross real axis. Contributed by Steffen Waldherr 2011-07-11 Richard Murray * src/rlocus.py: added real() and imag() to list of functions imported from numpy * src/freqplot.py: renamed plotting functions to BodePlot, NyquistPlot, GangOf4Plot and MarginPlot. Set up aliases to the more common names (bode, nyquest, gangof4, margin). Mainly playing around with idea for the eventual interface to use. * tests/matlab_test.py: updated timeresp outputs to match MATLAB * src/matlab.py (impulse, initial, lsim, step): switched outputs from step, impulse, initial, lsim to match MATLAB standard 2011-07-01 Richard Murray * src/rlocus.py: modified scipy import to only import those functions that we actually use. This fixes a problem pointed out by Carsten Knoll (TU Dresden) where control.place could be overwritten by numpy.place (because of an "from scipy import *" in rlocus.py * doc/intro.rst: Added link to scipy web page talking about the differences between numpy and MATLAB (contributed by Shuo Han). 2011-06-25 Richard Murray * src/xferfcn.py (TransferFunction._common_den): changed tolerance for detecting complex valued poles to a user-settable parameter, with default value 1e-8. This was an attempt to fix errors in the convert_test.py unittest script (conversion routine was misclassifying some poles as imaginary when they weren't). * src/xferfcn.py (_convertToTransferFunction): converted arguments to tb04ad to numpy arrays; fixes a unit test error in convert_test.py. * src/statefbk.py (gram): convert system matrix passed to sb03md to numpy array; this fixes a unit test error in modelsimp_test.py. * src/matlab.py (impulse): got rid of X0 argument for impulse response (not implemented in MATLAB). * doc/intro.rst: added some quick start information * src/matlab.py: added documentation for step, impulse, initial, lsim * src/timeresp.py: fixed some MATLAB specific function names in function doc strings 2011-06-22 Richard Murray * doc/intro.rst: fixed some small types * doc/control.tex: removed (no longer needed) 2011-06-22 Richard Murray * doc/intro.rst: Added a slightly more general introduction, with a pointer to the python-control wiki (on sf.net) * doc/Makefile: Changed path to sphinx-build to assume it is in the users path (as opposed to an explicit path) * doc/conf.py: Added release information into documentation file 2011-06-21 Richard Murray * src/statesp.py (_mimo2siso): Moved function from matlab.py. * src/timeresp.py: added file documentation + split out and updated copyright info. Small corrections to documentation. (InitialResponse): Added missing transpose argument in call to ForcedResponse * src/matlab.py: minor changes to documentation to avoid line wraps on standard (80 col) terminal window * src/matlab.py: removed time-series convention documentation from matlab.py since current MATLAB version uses standard conventions. This documentation is currently in timeresp.py. * src/*, doc/*: added Eike Welk's documentation modifications 2011-06-18 Richard Murray * src/timeresp.py, src/matlab.py: moved documentation about time series convention from matlab.py to timeresp.py * examples/pvtol-nested-ss.py: Fixed bug in call to step (wrong second argument) * tests/matlab_test.py: Updated tests to use MATLAB time response conventions. * tests/timeresp_test.py: Created unit tests for timeresp module, based on matlab_test.py 2011-06-17 Richard Murray * src/timeresp.py (ForcedResponse): swapped order of input and time arguments for linear response, following Eike's comment "T must always be supplied by the user, but U has a useful default value of 0." * src/matlab.py: moved code for lsim, initial, step, and impulse to timeresp.py and put in new routes that call timeresp.* versions of the functions with transposeData set to True. * src/timesim.py (_check_convert_array): added transpose argument that will transpose input data before processing it. * src/timesim.py: renamed lsim, initial, step, and impulse functions to ForcedResponse, InitialResponse, StepResponse and ImpulseResponse. These versions use Eike Welk's input ordering. * examples/pvtol-nested.py: calls to step() had screwed up inputs. Fixed. 2011-06-17 Richard Murray * src/matlab.py: added MIMO extensions from Eike Welk on 12 Jun 2011: adds MIMO capabilities for ``lsim``, ``step``, ``impulse``, ``initial`` * src/matlab.py: added changes from Eike Welk on 12 May 2011: - An implementation of the four simulation functions ``lsim``, ``step``, ``initial``, and ``impulse`` of the module ``matlab``. - Adds a function ``dcgain`` to the ``matlab`` module, which computes the gain of a linear system for steady state and constant input. - The patch contains a bug fix for class ``StateSpace``, which enables it to work properly together with Scipy's ``signal`` module. - The simulation functions' return values are changed (back?) to arrays, because matrices confuse Matplotlib. - New times series convention: see _time-series-convention section of matlab documentation - SISO simulation data are squeezed on output. To turn this off, pass the option squeeze=False ---- control-0.4c released ----- 2011-06-17 Richard Murray * examples/tfvis.py: Added tfvis, Simple GUI application for visualizing how the poles/zeros of the transfer function effects the bode, nyquist and step response of a SISO system. Contributed by Vanessa Romero Segovia, Ola Johnsson, Jerker Nordh. 2011-06-16 Richard Murray * src/matlab.py: import mateqn functions * src/__init__.py: import mateqn functions * tests/test_all.py: added unit tests for matrix solvers, converting to standard format along the way. Seems to work even if slycot routines are not in place, but I'm not sure if this is for the right reasons... * src/mateqn.py: added matrix solvers from LTH (Ola Johnsson, Jerker Nordh, Bjorn Olofsson, Vanessa Romero). Moved slycot function checks to the portion of the code where they are used, so that missing slycot doesn't mess up initialization if proper version of slycot is not available. 2011-04-02 Richard Murray * src/xferfcn.py (TransferFunction.__add__): fixed bug when adding a transfer function to state space system; _convertToTransferFunction was being called with input/output keywords. Picked up in unit test. * tests/matlab_test.py: added calls to all of the functions that are currently implemented in the library, to make sure there are no hidden issues. These calls do *not* test functionality, they just make sure that MATLAB compatibility functions accept the right types of arguments. * examples/secord-matlab.py: added root locus plot to list of figures that are produced * src/__init__.py: added rlocus to list of modules that are imported by control module * src/exception.py (ControlMIMONotImplemented): added exception for functions that are not yet implemented for MIMO systems * src/xferfcn.py (TransferFunction.__init__): convert integer numerator and denominator objects to floats to eliminate errors when creating common denominator (also used on pole command). This fixes and error were tf([1], [1, 2, 1]).pole() would generate an error. * src/freqplot.py (bode): Tweaked documentation string to remove 'h' from mag and phase return arguments * src/rlocus.py (RootLocus): removed commands that set figure number inside of RootLocus command, for consistency with other frequency plot routines. Added Plot=True argument and updated documentation. * src/matlab.py: added rlocus() command (calls RootLocus) * MANIFEST.in: Added MANIFEST.in file to include examples and tests in source distribution * README: Updated to include information on how to run unit tests. * setup.py: updated version number to 0.4c ---- control-0.4b released ----- 2011-04-02 Richard Murray * src/__init__.py: removed import of tests module (moved to tests/) * src/matlab.py: Added hsvd, balred, modred to list of functions that are imported for use as is. Updated documentation string to indicate that these are implemented, along with a few other functions (zero, lqr) that weren't properly listed. * src/modelsimp.py (balred): Removed extraneous print statements (modred): Set method to be 'matchdc' by default (to match MATLAB) * src/__init__.py: added missing import of modelsimp functions * tests/slycot_convert_test.py (TestSlycot.testTF): turned off print statements in unit test to make it easier to see results. Use verbose=True to turn back on. * tests/convert_test.py (TestConvert.testConvert): got rid of print statements in unittest; clutters the output so that you can't see the errors clearly. Use verbose=True to turn back on. * src/statesp.py (_convertToStateSpace): removed "buggy" print statements * src/xferfcn.py (_convertToTransferFunction): removed "buggy" print statements * tests/nichols_test.py (TestStateSpace.testNgrid): updated testcode to turn off grid in initial Nichols chart plot. * src/freqplot.py: updated comments at top of file to reflect nichols chart move * src/nichols.py: transferred over changes from v0.3d * src/matlab.py (ngrid): moved import to function 2011-03-31 Richard Murray * examples/pvtol-nested.py: updated stability margin plot to use proper calling format for bode(). * src/statesp.py (_convertToStateSpace): moved slycot import to the location where it is actually needed (allows running some commands without slycot installed) * src/xferfcn.py (_convertToTransferFunction): moved slycot import to the location where it is actually needed (allows running some commands without slycot installed) * src/nichols.py: new file for Nichols plot routines; move nichols(), nichols_grid(), closed_loop_contours(), m_circles(), n_circles() * src/__init__.py, src/freqresp.py, src/matlab.py: updated to match new file structure for Nichols charts * src/nichols.py (nichols): updated processing of freqresp to take into account the fact that return arguments are now a matrix of results (even for a SISO system) 2011-03-30 Richard Murray * tests/: added top level subdirectory, to be used for unit tests. The idea in putting the code here is that you can do 'setup.py test' during installation to make sure everything is working correctly. The test code would normally *not* be callable from the installed module. * tests/*_test.py: moved from src/Test*.py * setup.py: updated version number. 2011-02-13 Richard Murray * src/*.py: added svn:keywords Id properly * src/matlab.py (ngrid): added ngrid() from v0.3d * src/freqplot.py (nichols_grid, closed_loop_contours, m_circles, n_circles): copied over changes from Allan McInnes in v0.3d; ngrid() functiality + split out some of the nichols chart code into separate functions 2011-02-12 Richard Murray * setup.py: updated version number to 0.4a 2010-11-05 Richard Murray * external/yottalab.py: New file containing Roberto Bucher's control library functions. OK to start pulling these into the main library, with attribution, but note that they use modifications of the default library => some rewrites will be needed. 2010-09-11 Richard Murray * src/matlab.py (step): Added local step response function that uses lsim2() instead of signal.step (which can't handle integrators). This function may not be needed when new scipy step2() function is available. (impulse): Added local impulse response function that sets the initial condition based on the input matrix and then uses the lsim2() function to compute the response. * examples/test-response.py: Added test script for making sure that time repsonse functions are working as desired * src/matlab.py (lsim): Added local version of lsim that calls signal.lsim2 (actual ODE integrator) 2010-09-06 Richard Murray * src/statefbk.py (ctrb): new function for testing controllability * src/statefbk.py (obsv): new function for testing observabiilty 2010-09-02 Richard Murray * src/statefbk.py (place): Use np.size() instead of len() for finding length of placed_eigs for better compatibility with different python versions [courtesy of Roberto Bucher] * src/delay.py (pade): New file for delay-based computations + initial implementation of pade() [courtesy Sawyer Fuller] 2010-06-17 Richard Murray * src/rlocus.py: changed num, den to nump, denp for clarity * src/rlocus.py: new file with Ryan Krauss's root locus code 2010-06-06 Richard Murray * examples/pvtol-lqr.py: Added example to test out LQR routines * src/matlab.py (bode): created a wrapper that allows MATLAB style arguments for bode (eg, bode(sys1, sys2)) * src/ctrlutil.py (issys): added new function to check if an object is a system (state space or transfer function). Will generalize this latter to look for other compatible classes. * src/freqplot.py (bode): Compute frequency range of bode plot based on poles and zeros (bode): Allow bode plot to be passed a list (or tuple) as the first argument, in which case multiple bode plots are generated * src/statesp.py (StateSpace.zeros): new function to compute zeros for a state space system (StateSpace): defined new functions to compute poles of a state space system * src/xferfcn.py (TransferFunction): defined new functions to compute poles and zeros of a transfer function. 2010-05-31 Richard Murray * src/exception.py (ControlNotImplemented): added new exception, to be used for functions that are not yet implemented * src/statefbk.py (lqr): added lqr function (using slycot). Still needs to be verified to make sure calculations are correct. * ChangeLog: converted to standard GNU formation (old style below) * setup.py: updated package number to v0.3, changed URL to sourceforge wiki ------------------ 31 May 2010, RMM: added place() function using slycot * New module: statefbk - functions to design state feedback controllers * Uses Enrico Avventi slycot wrappers (http://github.com/avventi/Slycot) * Also added some exception types: ControlSlycot and ControlDimension * Added new example to test slycot interface (directly) 29 May 2010, RMM: updated function documentation * Added __doc__ strings for all current functions * Added __doc__ string to matlab module, listing control toolbox functions 22 May 2010, RMM: tweaked comments and released v0.3a * Changed copyright information on modified files to 2010 * Updated "to do" comments to use "#! TODO:" as prefix 11 Feb 2010, GR: implemented and tested state space feedback 15 Jan 2010, GR: added new example, improved bode 4 Jan 2010, GR: updated bode plots * made bode plot more like matlab * added options for plotting in dB, Hz 27 Dec 2009, GR: important bug fix: feedback TFs were being divided by two 10 Oct 09, RMM: reset matplotlib import in secord-matlab * Using 'from matplotlib import *' causes error with figures * On my other computer, got error when trying to import 'matplotlib.pyplot' * Need to sort out versions and figure out proper import structure 13 Sep 09, RMM: added basic state space functionality * Updated StateSpace routines to allow BD algebra with constants * Updated pvtol-nested example to try to use state space representation (not completely working yet) 12 Sep 09, RMM: code restructuring for transfer functions * Implemented feedback() method in bldalg; partially working for mixture of TF, SS and numbers (not thoroughly tested yet) * New feedback method for TransferFunctions * Updated gangof4 to use new feedback function 9 Sep 09, RMM: updated pzmap to generate a plot (turn off with Plot=False) 8 Sep 09, RMM: rewrite of xferfcn to handle type casting better * Appropriate functions now call convertToTransferFunction * Restricted transfer function to SISO only 7 Sep 09, RMM: additional fixes * Implemented block diagram operations for SISO transfer functions * Modified frequency response functions for transfer functions * Added rudimentary pole/zero computations * Added comments on things that need to be fixed (search for !) 5 Sep 09, RMM: updates to get standard examples working * Copied and converted pvtol_nested.py from AM08, Chapter 11 * Updated freqresp to use poly1d for computing values * Added outputs to bode plot - return mag and phase subplot handles 2009-05-24 Richard Murray * ./ Initial creation of package files and ChangeLog * Using simpler text format since emacs python mode doesn't support ChangeLog entries anyway Local Variables: mode:text End: