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Addressing #84 and #85 #91

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Merged
merged 3 commits into from
May 30, 2016
Merged

Addressing #84 and #85 #91

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217ccf6
Merge remote-tracking branch 'refs/remotes/python-control/master'
mp4096 May 20, 2016
2959df8
Working towards #84 and #85
mp4096 May 20, 2016
6aee194
Added sorting of poles to the state-space unit test
mp4096 May 20, 2016
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21 changes: 12 additions & 9 deletions control/statesp.py
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Original file line number Diff line number Diff line change
Expand Up @@ -55,7 +55,7 @@
dot, empty, exp, eye, matrix, ones, pi, poly, poly1d, roots, shape, sin, \
zeros, squeeze
from numpy.random import rand, randn
from numpy.linalg import inv, det, solve
from numpy.linalg import solve, eigvals, matrix_rank
from numpy.linalg.linalg import LinAlgError
from scipy.signal import lti, cont2discrete
# from exceptions import Exception
Expand Down Expand Up @@ -405,7 +405,7 @@ def freqresp(self, omega):
def pole(self):
"""Compute the poles of a state space system."""

return roots(poly(self.A))
return eigvals(self.A)

def zero(self):
"""Compute the zeros of a state space system."""
Expand Down Expand Up @@ -452,21 +452,24 @@ def feedback(self, other=1, sign=-1):
D2 = other.D

F = eye(self.inputs) - sign * D2 * D1
if abs(det(F)) < 1.e-6:
if matrix_rank(F) != self.inputs:
raise ValueError("I - sign * D2 * D1 is singular.")

E = inv(F)
T1 = eye(self.outputs) + sign * D1 * E * D2
T2 = eye(self.inputs) + sign * E * D2 * D1
# Precompute F\D2 and F\C2 (E = inv(F))
E_D2 = solve(F, D2)
E_C2 = solve(F, C2)

T1 = eye(self.outputs) + sign * D1 * E_D2
T2 = eye(self.inputs) + sign * E_D2 * D1

A = concatenate(
(concatenate(
(A1 + sign * B1 * E * D2 * C1, sign * B1 * E * C2), axis=1),
(A1 + sign * B1 * E_D2 * C1, sign * B1 * E_C2), axis=1),
concatenate(
(B2 * T1 * C1, A2 + sign * B2 * D1 * E * C2), axis=1)),
(B2 * T1 * C1, A2 + sign * B2 * D1 * E_C2), axis=1)),
axis=0)
B = concatenate((B1 * T2, B2 * D1 * T2), axis=0)
C = concatenate((T1 * C1, sign * D1 * E * C2), axis=1)
C = concatenate((T1 * C1, sign * D1 * E_C2), axis=1)
D = D1 * T2

return StateSpace(A, B, C, D, dt)
Expand Down
7 changes: 4 additions & 3 deletions control/tests/statesp_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -32,12 +32,13 @@ def setUp(self):
def testPole(self):
"""Evaluate the poles of a MIMO system."""

p = self.sys1.pole()

np.testing.assert_array_almost_equal(p, [3.34747678408874,
p = np.sort(self.sys1.pole())
true_p = np.sort([3.34747678408874,
-3.17373839204437 + 1.47492908003839j,
-3.17373839204437 - 1.47492908003839j])

np.testing.assert_array_almost_equal(p, true_p)

def testZero(self):
"""Evaluate the zeros of a SISO system."""

Expand Down