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Merge pull request #880 from murrayrm/smallfixes-26Mar2023
Small fixes for 0.9.4 release
2 parents 0422c82 + 1d7480a commit 999189c

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‎README.rst

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@@ -22,14 +22,17 @@ Python Control Systems Library
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The Python Control Systems Library is a Python module that implements basic
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operations for analysis and design of feedback control systems.
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Have a go now!
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==============
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--------------
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Try out the examples in the examples folder using the binder service.
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.. image:: https://mybinder.org/badge_logo.svg
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:target: https://mybinder.org/v2/gh/python-control/python-control/HEAD
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The package can also be installed on Google Colab using the commands::
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!pip install control
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import control as ct
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Features
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--------
@@ -44,17 +47,16 @@ Features
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- Nonlinear systems: optimization-based control, describing functions, differential flatness
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Links
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=====
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-----
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- Project home page: http://python-control.org
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- Source code repository: https://github.com/python-control/python-control
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- Documentation: http://python-control.readthedocs.org/
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- Issue tracker: https://github.com/python-control/python-control/issues
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- Mailing list: http://sourceforge.net/p/python-control/mailman/
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Dependencies
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============
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------------
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The package requires numpy, scipy, and matplotlib. In addition, some routines
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use a module called slycot, that is a Python wrapper around some FORTRAN
@@ -64,6 +66,7 @@ functionality is limited or absent, and installation of slycot is recommended
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https://github.com/python-control/Slycot
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Installation
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============
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@@ -73,7 +76,7 @@ Conda and conda-forge
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The easiest way to get started with the Control Systems library is
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using `Conda <https://conda.io>`_.
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The Control Systems library has been packages for the `conda-forge
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The Control Systems library has packages available using the `conda-forge
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<https://conda-forge.org>`_ Conda channel, and as of Slycot version
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0.3.4, binaries for that package are available for 64-bit Windows,
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OSX, and Linux.
@@ -83,6 +86,10 @@ conda environment, run::
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conda install -c conda-forge control slycot
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Mixing packages from conda-forge and the default conda channel can
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sometimes cause problems with dependencies, so it is usually best to
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instally NumPy, SciPy, and Matplotlib from conda-forge as well.
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Pip
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---
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@@ -92,7 +99,8 @@ To install using pip::
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pip install control
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If you install Slycot using pip you'll need a development environment
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(e.g., Python development files, C and Fortran compilers).
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(e.g., Python development files, C and Fortran compilers). Pip
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installation can be particularly complicated for Windows.
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Installing from source
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----------------------
@@ -106,11 +114,13 @@ toplevel `python-control` directory::
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Article and Citation Information
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================================
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An `article <https://ieeexplore.ieee.org/abstract/document/9683368>`_ about the library is available on IEEE Explore. If the Python Control Systems Library helped you in your research, please cite::
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An `article <https://ieeexplore.ieee.org/abstract/document/9683368>`_ about
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the library is available on IEEE Explore. If the Python Control Systems Library helped you in your research, please cite::
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@inproceedings{python-control2021,
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title={The Python Control Systems Library (python-control)},
113-
author={Fuller, Sawyer and Greiner, Ben and Moore, Jason and Murray, Richard and van Paassen, Ren{\'e} and Yorke, Rory},
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author={Fuller, Sawyer and Greiner, Ben and Moore, Jason and
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Murray, Richard and van Paassen, Ren{\'e} and Yorke, Rory},
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booktitle={60th IEEE Conference on Decision and Control (CDC)},
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pages={4875--4881},
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year={2021},

‎control/config.py

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@@ -76,7 +76,6 @@ def set_defaults(module, **keywords):
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>>> ct.defaults['freqplot.number_of_samples']
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100
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>>> # do some customized freqplotting
79-
>>> ct.reset_defaults()
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"""
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if not isinstance(module, str):
@@ -209,7 +208,6 @@ def use_matlab_defaults():
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--------
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>>> ct.use_matlab_defaults()
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>>> # do some matlab style plotting
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>>> ct.reset_defaults()
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"""
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set_defaults('freqplot', dB=True, deg=True, Hz=False, grid=True)
@@ -229,7 +227,6 @@ def use_fbs_defaults():
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--------
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>>> ct.use_fbs_defaults()
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>>> # do some FBS style plotting
232-
>>> ct.reset_defaults()
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"""
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set_defaults('freqplot', dB=False, deg=True, Hz=False, grid=False)
@@ -263,7 +260,6 @@ class and functions. If flat is `False`, then matrices are
263260
--------
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>>> ct.use_numpy_matrix(True, False)
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>>> # do some legacy calculations using np.matrix
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>>> ct.reset_defaults()
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"""
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if flag and warn:
@@ -285,7 +281,6 @@ def use_legacy_defaults(version):
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>>> ct.use_legacy_defaults("0.9.0")
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(0, 9, 0)
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>>> # do some legacy style plotting
288-
>>> ct.reset_defaults()
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"""
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import re

‎control/ctrlutil.py

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@@ -44,6 +44,7 @@
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from . import lti
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import numpy as np
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import math
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import warnings
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__all__ = ['unwrap', 'issys', 'db2mag', 'mag2db']
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@@ -99,6 +100,8 @@ def issys(obj):
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False
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"""
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warnings.warn("issys() is deprecated; use isinstance(obj, ct.LTI)",
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FutureWarning, stacklevel=2)
102105
return isinstance(obj, lti.LTI)
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def db2mag(db):

‎control/freqplot.py

Lines changed: 14 additions & 7 deletions
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@@ -558,21 +558,21 @@ def nyquist_plot(
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List of linear input/output systems (single system is OK). Nyquist
559559
curves for each system are plotted on the same graph.
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plot : boolean
562-
If True, plot magnitude
563-
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omega : array_like
561+
omega : array_like, optional
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Set of frequencies to be evaluated, in rad/sec.
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omega_limits : array_like of two values
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omega_limits : array_like of two values, optional
568565
Limits to the range of frequencies. Ignored if omega is provided, and
569566
auto-generated if omitted.
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571-
omega_num : int
568+
omega_num : int, optional
572569
Number of frequency samples to plot. Defaults to
573570
config.defaults['freqplot.number_of_samples'].
574571
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color : string
572+
plot : boolean, optional
573+
If True (default), plot the Nyquist plot.
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575+
color : string, optional
576576
Used to specify the color of the line and arrowhead.
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return_contour : bool, optional
@@ -690,6 +690,13 @@ def nyquist_plot(
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to `none` will turn off indentation. If `return_contour` is True, the
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exact contour used for evaluation is returned.
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3. For those portions of the Nyquist plot in which the contour is
694+
indented to avoid poles, resuling in a scaling of the Nyquist plot,
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the line styles are according to the settings of the `primary_style`
696+
and `mirror_style` keywords. By default the scaled portions of the
697+
primary curve use a dotted line style and the scaled portion of the
698+
mirror image use a dashdot line style.
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Examples
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--------
695702
>>> G = ct.zpk([], [-1, -2, -3], gain=100)

‎control/matlab/wrappers.py

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@@ -5,7 +5,7 @@
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import numpy as np
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from ..iosys import ss
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from ..xferfcn import tf
8-
from ..ctrlutil import issys
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from ..lti import LTI
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from ..exception import ControlArgument
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from scipy.signal import zpk2tf
1111
from warnings import warn
@@ -124,7 +124,7 @@ def _parse_freqplot_args(*args):
124124
i = 0
125125
while i < len(args):
126126
# Check to see if this is a system of some sort
127-
if issys(args[i]):
127+
if isinstance(args[i], LTI):
128128
# Append the system to our list of systems
129129
syslist.append(args[i])
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i += 1

‎control/tests/ctrlutil_test.py

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@@ -1,7 +1,8 @@
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"""ctrlutil_test.py"""
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import numpy as np
4-
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import pytest
5+
import control as ct
56
from control.ctrlutil import db2mag, mag2db, unwrap
67

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class TestUtils:
@@ -58,3 +59,8 @@ def test_mag2db(self):
5859
def test_mag2db_array(self):
5960
db_array = mag2db(self.mag)
6061
np.testing.assert_array_almost_equal(db_array, self.db)
62+
63+
def test_issys(self):
64+
sys = ct.rss(2, 1, 1)
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with pytest.warns(FutureWarning, match="deprecated; use isinstance"):
66+
ct.issys(sys)

‎control/tests/flatsys_test.py

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@@ -212,7 +212,7 @@ def test_kinematic_car_ocp(
212212
elif re.match("Iteration limit.*", traj_ocp.message) and \
213213
re.match(
214214
"conda ubuntu-3.* Generic", os.getenv('JOBNAME', '')) and \
215-
re.match("1.24.[01]", np.__version__):
215+
re.match("1.24.[012]", np.__version__):
216216
pytest.xfail("gh820: iteration limit exceeded")
217217

218218
else:

‎doc/conf.py

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@@ -37,11 +37,12 @@
3737
import re
3838
import control
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40+
# Get the version number for this commmit (including alpha/beta/rc tags)
41+
release = re.sub('^v', '', os.popen('git describe').read().strip())
42+
4043
# The short X.Y.Z version
41-
version = re.sub(r'(\d+\.\d+\.\d+)(.*)', r'\1', control.__version__)
44+
version = re.sub(r'(\d+\.\d+\.\d+(.post\d+)?)(.*)', r'\1', release)
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43-
# The full version, including alpha/beta/rc tags
44-
release = control.__version__
4546
print("version %s, release %s" % (version, release))
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# -- General configuration ---------------------------------------------------
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206207
linespec = ""
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208209
base_url = "https://github.com/python-control/python-control/blob/"
209-
if 'dev' in control.__version__:
210+
if release != version: # development release
210211
return base_url + "main/control/%s%s" % (fn, linespec)
211-
else:
212-
return base_url + "%s/control/%s%s" % (
213-
control.__version__, fn, linespec)
212+
else: # specific version
213+
return base_url + "%s/control/%s%s" % (version, fn, linespec)
214214

215215
# Don't automaticall show all members of class in Methods & Attributes section
216216
numpydoc_show_class_members = False
@@ -282,4 +282,5 @@ def linkcode_resolve(domain, info):
282282
import control as ct
283283
import control.optimal as obc
284284
import control.flatsys as fs
285+
ct.reset_defaults()
285286
"""

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