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Merge pull request #267 from don4get/refactor/clean-examples
Rename and clean up controllability/observability example and slycot import example
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‎examples/check-controllability-and-observability.py‎

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""" check-controllability-and-observability.py
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Example to check the controllability and the observability of a state space system.
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RMM, 6 Sep 2010
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"""
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from __future__ import print_function
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from scipy import * # Load the scipy functions
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from control.matlab import * # Load the controls systems library
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# Parameters defining the system
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m = 250.0 # system mass
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k = 40.0 # spring constant
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b = 60.0 # damping constant
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# System matrices
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A = matrix([[1, -1, 1.],
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[1, -k / m, -b / m],
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[1, 1, 1]])
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B = matrix([[0],
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[1 / m],
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[1]])
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C = matrix([[1., 0, 1.]])
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sys = ss(A, B, C, 0)
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# Check controllability
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Wc = ctrb(A, B)
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print("Wc = ", Wc)
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# Check Observability
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Wo = obsv(A, C)
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print("Wo = ", Wo)

‎examples/slicot-test.py‎

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‎examples/slycot-import-test.py‎

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""" slycot-import-test.py
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Simple example script to test Slycot import
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RMM, 28 May 09
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"""
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import numpy as np
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from scipy import *
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from control.matlab import *
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from control.exception import slycot_check
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# Parameters defining the system
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m = 250.0 # system mass
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k = 40.0 # spring constant
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b = 60.0 # damping constant
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# System matrices
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A = np.matrix([[1, -1, 1.], [1, -k / m, -b / m], [1, 1, 1]])
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B = np.matrix([[0], [1 / m], [1]])
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C = np.matrix([[1., 0, 1.]])
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sys = ss(A, B, C, 0)
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# Python control may be used without slycot, for example for a pole placement.
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# Eigenvalue placement
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w = [-3, -2, -1]
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K = place(A, B, w)
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print("[python-control (from scipy)] K = ", K)
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print("[python-control (from scipy)] eigs = ", np.linalg.eig(A - B * K)[0])
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# Before using one of its routine, check that slycot is installed.
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w = np.array([-3, -2, -1])
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if slycot_check():
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# Import routine sb01bd used for pole placement.
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from slycot import sb01bd
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n = 3 # Number of states
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m = 1 # Number of inputs
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npp = 3 # Number of placed eigen values
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alpha = 1 # Maximum threshold for eigen values
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dico = 'D' # Discrete system
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_, _, _, _, _, K, _ = sb01bd(n, m, npp, alpha, A, B, w, dico, tol=0.0, ldwork=None)
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print("[slycot] K = ", K)
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print("[slycot] eigs = ", np.linalg.eig(A + np.dot(B, K))[0])
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else:
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print("Slycot is not installed.")

‎examples/test-statefbk.py‎

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