diff --git a/control/frdata.py b/control/frdata.py
index 1ac2f8b08..a80208963 100644
--- a/control/frdata.py
+++ b/control/frdata.py
@@ -535,16 +535,15 @@ def feedback(self, other=1, sign=-1):
if (self.noutputs != other.ninputs or self.ninputs != other.noutputs):
raise ValueError(
"FRD.feedback, inputs/outputs mismatch")
- fresp = empty((self.noutputs, self.ninputs, len(other.omega)),
- dtype=complex)
- # TODO: vectorize this
+
# TODO: handle omega re-mapping
- # TODO: is there a reason to use linalg.solve instead of linalg.inv?
- # https://github.com/python-control/python-control/pull/314#discussion_r294075154
- for k, w in enumerate(other.omega):
- fresp[:, :, k] = self.fresp[:, :, k] @ linalg.solve(
- eye(self.ninputs) + other.fresp[:, :, k] @ self.fresp[:, :, k],
- eye(self.ninputs))
+
+ # reorder array axes in order to leverage numpy broadcasting
+ myfresp = np.moveaxis(self.fresp, 2, 0)
+ otherfresp = np.moveaxis(other.fresp, 2, 0)
+ I_AB = eye(self.ninputs)[np.newaxis, :, :] + otherfresp @ myfresp
+ resfresp = (myfresp @ linalg.inv(I_AB))
+ fresp = np.moveaxis(resfresp, 0, 2)
return FRD(fresp, other.omega, smooth=(self.ifunc is not None))
pFad - Phonifier reborn
Pfad - The Proxy pFad of © 2024 Garber Painting. All rights reserved.
Note: This service is not intended for secure transactions such as banking, social media, email, or purchasing. Use at your own risk. We assume no liability whatsoever for broken pages.
Alternative Proxies:
Alternative Proxy
pFad Proxy
pFad v3 Proxy
pFad v4 Proxy