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Move Matlab versions of time response routines
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‎control/matlab/__init__.py‎

Lines changed: 1 addition & 187 deletions
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@@ -79,11 +79,11 @@
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from .. import margins
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from ..statesp import *
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from ..xferfcn import *
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from ..lti import LTI # base class of StateSpace, TransferFunction
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from ..lti import issiso
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from ..frdata import FRD
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from ..dtime import sample_system
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from ..exception import ControlArgument
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from .timeresp import *
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# Import MATLAB-like functions that can be used as-is
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from ..ctrlutil import unwrap
@@ -852,192 +852,6 @@ def damp(sys, doprint=True):
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# Simulation routines
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# Call corresponding functions in timeresp, with arguments transposed
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def step(sys, T=None, X0=0., input=0, output=None):
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'''
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Step response of a linear system
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If the system has multiple inputs or outputs (MIMO), one input has
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to be selected for the simulation. Optionally, one output may be
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selected. If no selection is made for the output, all outputs are
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given. The parameters `input` and `output` do this. All other
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inputs are set to 0, all other outputs are ignored.
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Parameters
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----------
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sys: StateSpace, or TransferFunction
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LTI system to simulate
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T: array-like object, optional
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Time vector (argument is autocomputed if not given)
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X0: array-like or number, optional
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Initial condition (default = 0)
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Numbers are converted to constant arrays with the correct shape.
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input: int
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Index of the input that will be used in this simulation.
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output: int
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If given, index of the output that is returned by this simulation.
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Returns
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-------
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yout: array
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Response of the system
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T: array
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Time values of the output
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See Also
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--------
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lsim, initial, impulse
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Examples
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--------
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>>> yout, T = step(sys, T, X0)
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'''
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T, yout = timeresp.step_response(sys, T, X0, input, output,
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transpose = True)
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return yout, T
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def impulse(sys, T=None, input=0, output=None):
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'''
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Impulse response of a linear system
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If the system has multiple inputs or outputs (MIMO), one input has
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to be selected for the simulation. Optionally, one output may be
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selected. If no selection is made for the output, all outputs are
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given. The parameters `input` and `output` do this. All other
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inputs are set to 0, all other outputs are ignored.
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Parameters
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----------
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sys: StateSpace, TransferFunction
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LTI system to simulate
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T: array-like object, optional
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Time vector (argument is autocomputed if not given)
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input: int
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Index of the input that will be used in this simulation.
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output: int
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Index of the output that will be used in this simulation.
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Returns
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-------
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yout: array
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Response of the system
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T: array
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Time values of the output
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See Also
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--------
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lsim, step, initial
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Examples
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--------
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>>> yout, T = impulse(sys, T)
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'''
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T, yout = timeresp.impulse_response(sys, T, 0, input, output,
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transpose = True)
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return yout, T
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def initial(sys, T=None, X0=0., input=None, output=None):
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'''
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Initial condition response of a linear system
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If the system has multiple outputs (?IMO), optionally, one output
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may be selected. If no selection is made for the output, all
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outputs are given.
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Parameters
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----------
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sys: StateSpace, or TransferFunction
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LTI system to simulate
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T: array-like object, optional
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Time vector (argument is autocomputed if not given)
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X0: array-like object or number, optional
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Initial condition (default = 0)
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Numbers are converted to constant arrays with the correct shape.
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input: int
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This input is ignored, but present for compatibility with step
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and impulse.
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output: int
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If given, index of the output that is returned by this simulation.
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Returns
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-------
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yout: array
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Response of the system
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T: array
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Time values of the output
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See Also
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--------
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lsim, step, impulse
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Examples
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--------
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>>> yout, T = initial(sys, T, X0)
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'''
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T, yout = timeresp.initial_response(sys, T, X0, output=output,
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transpose=True)
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return yout, T
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def lsim(sys, U=0., T=None, X0=0.):
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'''
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Simulate the output of a linear system.
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As a convenience for parameters `U`, `X0`:
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Numbers (scalars) are converted to constant arrays with the correct shape.
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The correct shape is inferred from arguments `sys` and `T`.
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Parameters
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----------
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sys: LTI (StateSpace, or TransferFunction)
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LTI system to simulate
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U: array-like or number, optional
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Input array giving input at each time `T` (default = 0).
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If `U` is ``None`` or ``0``, a special algorithm is used. This special
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algorithm is faster than the general algorithm, which is used otherwise.
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T: array-like
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Time steps at which the input is defined, numbers must be (strictly
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monotonic) increasing.
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X0: array-like or number, optional
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Initial condition (default = 0).
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Returns
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-------
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yout: array
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Response of the system.
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T: array
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Time values of the output.
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xout: array
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Time evolution of the state vector.
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See Also
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--------
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step, initial, impulse
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Examples
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--------
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>>> yout, T, xout = lsim(sys, U, T, X0)
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'''
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T, yout, xout = timeresp.forced_response(sys, T, U, X0, transpose = True)
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return yout, T, xout
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# Convert a continuous time system to a discrete time system
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def c2d(sysc, Ts, method='zoh'):
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'''

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