system_ctrl_design Namespace Reference

Functions
def	plot_sim (sim, title='', xlabel='', ylabel1='', ylabel2='', fig_size=(4, 5))
	This function creates an appropriately formatted system test plot. More...
def	comp_plot_sim (sim1, sim2, ylim1='auto', ylim2='auto', title='', subtitle1='', subtitle2='', xlabel='', ylabel1='', ylabel2='', fig_size=(13, 6))
	This function creates an appropriately formatted system test plot. More...
def	plot_pole (p, title, fig_size)
	This function creates an appropriately formatted system test plot. More...

Variables
	A = np.asmatrix(np.loadtxt('A.txt',delimiter=','))
	B = np.asmatrix(np.loadtxt('B.txt',delimiter=',')).transpose()
	C = np.matrix()
int	D = 0
	sys_full_OL = control.StateSpace(A,B,C,D)
	A_p = np.matrix([[A[1,1], A[1,3]], [A[3,1], A[3,3]]])
	B_p = np.matrix([[B[1,0]], [B[3,0]]])
	C_p = np.matrix()
int	D_p = 0
	sys_plat_OL = control.StateSpace(A_p,B_p,C_p,D_p)
	plat_OL_pole = control.pole(sys_plat_OL)
	Q_plat = np.diag([1,1])
	R_plat = np.diag([1])
	K
	S
	E
	K_plat_0 = np.matrix(K)
	A_p_CL0 = A_p - (B_p*K_plat_0)
	sys_plat_CL0 = control.StateSpace(A_p_CL0,0*B_p,C_p,D_p)
	plat_CL0_pole = control.pole(sys_plat_CL0)
	T = np.arange(0,3,.001)
list	X0 = [5*3.14159/180, 0]
	R_plat_CL0 = control.initial_response(sys_plat_CL0,T,X0)
	fig = plt.figure()
	title
	xlabel
	ylabel1
	ylabel2
	K_plat_1 = np.matrix(K)
	A_p_CL1 = A_p - (B_p*K_plat_1)
	sys_plat_CL1 = control.StateSpace(A_p_CL1,0*B_p,C_p,D_p)
	plat_CL1_pole = control.pole(sys_plat_CL1)
	R_plat_CL1 = control.initial_response(sys_plat_CL1,T,X0)
	subtitle1
	subtitle2
	sys_OL_pole = control.pole(sys_full_OL)
	Q_sys = np.diag([1,1,1,1])
	R_sys = np.diag([1])
	K_sys_0 = np.matrix(K)
	A_CL0 = A - (B*K_sys_0)
	sys_CL0 = control.StateSpace(A_CL0,0*B,C,D)
	sys_CL0_pole = control.pole(sys_CL0)
	R_sys_CL0 = control.initial_response(sys_CL0,T,X0)
	K_sys_1 = np.matrix(K)
	A_CL1 = A - (B*K_sys_1)
	sys_CL1 = control.StateSpace(A_CL1,0*B,C,D)
	sys_CL1_pole = control.pole(sys_CL1)
	R_sys_CL1 = control.initial_response(sys_CL1,T,X0)

Function Documentation

comp_plot_sim()

def system_ctrl_design.comp_plot_sim	(		sim1,
			sim2,
			ylim1 = 'auto',
			ylim2 = 'auto',
			title = '',
			subtitle1 = '',
			subtitle2 = '',
			xlabel = '',
			ylabel1 = '',
			ylabel2 = '',
			fig_size = (13,6)
	)

This function creates an appropriately formatted system test plot.

This function plots the time response of a given parameter and its derrivative. The parameter sim shold be a nx3 array type object of the following format [time,x,x_dot]

Parameters

sim1	A matrix with the first system simulation output.
sim2	A matrix with the second system simulation output.
ylim1	Tuple describing the ylimits for the first comparison
ylim2	Tuple describing the ylimits for the second comparison
title	A str describing the whole figure.
subtitle1	A str describing the first simulation
subtitle2	A str describing the second simulation
xlabel	A str describing the x axes
ylabel1	A str describing the y axis of the first comparison
ylabel2	A str describing the y axis of the second comparison
fig_size	A tuple giving the width and height of the figure.

plot_pole()

def system_ctrl_design.plot_pole	(		p,
			title,
			fig_size
	)

This function creates an appropriately formatted system test plot.

Parameters

p	A vector containing the system poles for plotting.
sim_results	a matrix with the system simulation output.
title	A str describing the plot.
fig_size	A tuple giving the width and height of the figure.

plot_sim()

def system_ctrl_design.plot_sim	(		sim,
			title = '',
			xlabel = '',
			ylabel1 = '',
			ylabel2 = '',
			fig_size = (4,5)
	)

This function creates an appropriately formatted system test plot.

This function plots the time response of a given parameter and its derrivative. The parameter sim shold be a nx3 array type object of the following format [time,x,x_dot]

Parameters

sim_results	a matrix with the system simulation output.
title	A str describing the whole figure.
xlabel	A str describing the x axis
ylabel1	A str describing the y axis of the first plot
ylabel2	A str describing the y axis of the second plot
fig_size	A tuple giving the width and height of the figure.

Variable Documentation

A

system_ctrl_design.A = np.asmatrix(np.loadtxt('A.txt',delimiter=','))

A_CL0

system_ctrl_design.A_CL0 = A - (B*K_sys_0)

A_CL1

system_ctrl_design.A_CL1 = A - (B*K_sys_1)

A_p

system_ctrl_design.A_p = np.matrix([[A[1,1], A[1,3]], [A[3,1], A[3,3]]])

A_p_CL0

system_ctrl_design.A_p_CL0 = A_p - (B_p*K_plat_0)

A_p_CL1

system_ctrl_design.A_p_CL1 = A_p - (B_p*K_plat_1)

B

system_ctrl_design.B = np.asmatrix(np.loadtxt('B.txt',delimiter=',')).transpose()

B_p

system_ctrl_design.B_p = np.matrix([[B[1,0]], [B[3,0]]])

C

system_ctrl_design.C = np.matrix()

C_p

system_ctrl_design.C_p = np.matrix()

D

int system_ctrl_design.D = 0

D_p

int system_ctrl_design.D_p = 0

E

system_ctrl_design.E

fig

system_ctrl_design.fig = plt.figure()

K

system_ctrl_design.K

K_plat_0

system_ctrl_design.K_plat_0 = np.matrix(K)

K_plat_1

system_ctrl_design.K_plat_1 = np.matrix(K)

K_sys_0

system_ctrl_design.K_sys_0 = np.matrix(K)

K_sys_1

system_ctrl_design.K_sys_1 = np.matrix(K)

plat_CL0_pole

system_ctrl_design.plat_CL0_pole = control.pole(sys_plat_CL0)

plat_CL1_pole

system_ctrl_design.plat_CL1_pole = control.pole(sys_plat_CL1)

plat_OL_pole

system_ctrl_design.plat_OL_pole = control.pole(sys_plat_OL)

Q_plat

system_ctrl_design.Q_plat = np.diag([1,1])

Q_sys

system_ctrl_design.Q_sys = np.diag([1,1,1,1])

R_plat

system_ctrl_design.R_plat = np.diag([1])

R_plat_CL0

system_ctrl_design.R_plat_CL0 = control.initial_response(sys_plat_CL0,T,X0)

R_plat_CL1

system_ctrl_design.R_plat_CL1 = control.initial_response(sys_plat_CL1,T,X0)

R_sys

system_ctrl_design.R_sys = np.diag([1])

R_sys_CL0

system_ctrl_design.R_sys_CL0 = control.initial_response(sys_CL0,T,X0)

R_sys_CL1

system_ctrl_design.R_sys_CL1 = control.initial_response(sys_CL1,T,X0)

S

system_ctrl_design.S

subtitle1

system_ctrl_design.subtitle1

subtitle2

system_ctrl_design.subtitle2

sys_CL0

system_ctrl_design.sys_CL0 = control.StateSpace(A_CL0,0*B,C,D)

sys_CL0_pole

system_ctrl_design.sys_CL0_pole = control.pole(sys_CL0)

sys_CL1

system_ctrl_design.sys_CL1 = control.StateSpace(A_CL1,0*B,C,D)

sys_CL1_pole

system_ctrl_design.sys_CL1_pole = control.pole(sys_CL1)

sys_full_OL

system_ctrl_design.sys_full_OL = control.StateSpace(A,B,C,D)

sys_OL_pole

system_ctrl_design.sys_OL_pole = control.pole(sys_full_OL)

sys_plat_CL0

system_ctrl_design.sys_plat_CL0 = control.StateSpace(A_p_CL0,0*B_p,C_p,D_p)

sys_plat_CL1

system_ctrl_design.sys_plat_CL1 = control.StateSpace(A_p_CL1,0*B_p,C_p,D_p)

sys_plat_OL

system_ctrl_design.sys_plat_OL = control.StateSpace(A_p,B_p,C_p,D_p)

T

system_ctrl_design.T = np.arange(0,3,.001)

title

system_ctrl_design.title

X0

list system_ctrl_design.X0 = [5*3.14159/180, 0]

xlabel

system_ctrl_design.xlabel

ylabel1

system_ctrl_design.ylabel1

ylabel2

system_ctrl_design.ylabel2