2021.9 Y.
Minami
Python-Control Cheat Sheet
from control.matlab import *
import numpy as np
1 System representation
Transfer Function P = tf([0, 4], [1, 2, 3])
s = tf('s')
P = 4/(s**2 + 2*s + 3)
State-Space Equation
Controllability and Reachability Matrix
Vc = ctrb(P.A, P.B)
2 Time response
Impulse response
T = np.arange(0, 10, 0.01)
y, t = impulse(P, T)
0, 0.01, 0.02,…,9.99
Step response
T = np.arange(0, 10, 0.01)
y, t = step(P, T)
Step response characteristics
Initial condition response
T = np.arange(0, 10, 0.01)
X0 = [0, -1]
y, t = initial(P, T, X0)
Forced response
T = np.arange(0, 10, 0.01)
U = np.sin(5*T)
y, t, x0 = lsim(P, U, T)
3 Frequency response 5 Stability and Robustness
Pole & Zero P.pole()
Bode diagram
pzmap(P)
gain, phase, w = bode(P, logspace(-2,2)) P.zero()
Gain
Stability margin
Gain Gain margin
0[dB]
20*np.log10(gain) [dB] <latexit sha1_base64="CA5VUgVuxhKR41Y6e4MPJEf6Plc=">AAACsXichVHLLgRRED3auz1mPBYSm4kJsZpUIyFiIbGx9BqPGBnd1zU6069090xCZ37AD1jYILHAZ9j4AQufIJYkNhZqeloEQd3ce+ueW6eqTsrwLDMIiR6alOaW1rb2jk61q7unN5Xu618P3IovZF64lutvGnogLdOR+dAMLbnp+VK3DUtuGOWF+v9GVfqB6Tpr4aEnd2y95Jj7ptBDhorpwYJnG5GaKbi2LOnFqCRqaq2YzlKOYsv8dLTEySKxJTd9iwL24EKgAhsSDkL2LegIeG1DA8FjbAcRYz57ZvwvUYPK3ApHSY7QGS3zWeLXdoI6/K7nDGK24CoWb5+ZGYzSPV3RM93RDT3S26+5ojhHvZdDvo0GV3rF1PHQ6uu/LJvvEAefrD96/ogNGPXjjiVHCkatf7SG2MdMzDBZsxcjdfWiUbd6dPK8OrsyGo3RBT2x7nN6oFtW7lRfxOWyXDmFyoPTvo/pp7M+kdMopy1PZefnkhF2YBgjGOc5TWMei1hCnuse4QxXuFYmlS1lVzEaoUpTwhnAF1PK77XLnRY=</latexit>
GM
GM, PM, wpc, wgc = margin(P)
print('GM=‘, 20*np.log10(GM))
Phase Phase Phase margin
print('PM=', PM)
print('wpc=', wpc) Phase crossover
phase*180/np.pi [deg] -180[deg] <latexit sha1_base64="B0+dQHYVl/axLSstnacrMXjQK0Q=">AAACsXichVHLLgRRED3auz1mPBYSm4kJsZpUIyFiIbGx9BqPGBnd1zU6069090xCZ37AD1jYILHAZ9j4AQufIJYkNhZqeloEQd3ce+ueW6eqTsrwLDMIiR6alOaW1rb2jk61q7unN5Xu618P3IovZF64lutvGnogLdOR+dAMLbnp+VK3DUtuGOWF+v9GVfqB6Tpr4aEnd2y95Jj7ptBDhorpwYJnG5GaKbi2LOnFyBM1tVZMZylHsWV+OlriZJHYkpu+RQF7cCFQgQ0JByH7FnQEvLahgeAxtoOIMZ89M/6XqEFlboWjJEfojJb5LPFrO0EdftdzBjFbcBWLt8/MDEbpnq7ome7ohh7p7ddcUZyj3ssh30aDK71i6nho9fVfls13iINP1h89f8QGjPpxx5IjBaPWP1pD7GMmZpis2YuRunrRqFs9OnlenV0Zjcbogp5Y9zk90C0rd6ov4nJZrpxC5cFp38f001mfyGmU05ansvNzyQg7MIwRjPOcpjGPRSwhz3WPcIYrXCuTypayqxiNUKUp4Qzgiynld8nnnR8=</latexit>
PM print('wgc=', wgc) Gain crossover
A = [[0, 1],[-4, -5]]
B = [[0], [1]]
C = np.eye(2) Frequency response at multiple angular frequencies
w [rad/s]
6 Controller design
D = np.zeros([2, 1])
gain, phase, w = freqresp(sys, [omega])
P = ss(A, B, C, D)
Nyquist diagram
Vo = obsv(P.A, P.C) x, y, w = nyquist(P, logspace(-2,2,1000))
Pole = [-1, -2]
F = -acker(P.A, P.B, Pole)
Pade approximation Pole placement
num, den = pade(0.5, 2) F = -place(P.A, P.B, Pole)
Pdelay = P*tf(num, den)
LQ optimal control Q = [ [100, 0], [0, 1]]
Delay = 0.5[s] R = 1
2nd order appr. P F, _, _ = lqr(P.A, P.B, Q, R)
F = -F
Pdelay
solves the continuous-time algebraic Riccati equation
4
(X, L, G) = care(A, B, Q, R)
Block diagram
Mixied sensitivity design from control import mixsyn
series(S1，S2) parallel(S1，S2)
Info = stepinfo(sys) <latexit sha1_base64="q9jQeFqFfWF+DcoZdS2ETssh+Rw=">AAACpnichVG7SgNBFD1ZXzE+ErURbMSgWIWJCAargI2VqDFGSILujqMumX2wOwnEkB+wFwtBUbAQP8PGH7DIJ4ilgo2FN5sVUdHcZXfOnDnnzr17DVeavmKsFdF6evv6B6KDsaHhkdF4Ymx823eqHhd57kjH2zF0X0jTFnllKil2XE/oliFFwaistM8LNeH5pmNvqborypZ+aJsHJtcVUcWSpasjrstGrrmbSLIUC2L6N0iHIIkw1p3EPUrYhwOOKiwI2FCEJXT49BSRBoNLXBkN4jxCZnAu0ESMvFVSCVLoxFboe0i7YsjatG/n9AM3p1skvR45pzHLHtkte2EP7I49sfc/czWCHO1a6rQaHa9wd+Mnk7m3ri6LVoWjL9c/NX9qfWK9oGJBSk6s7NKrwgEygcOknt2AaXfPO/fWjs9ecsubs405ds2eqe8r1mL31Llde+U3G2LzHDEaXPrnmH6D7YVUmvDGYjKbCUcYxRRmME9zWkIWq1hHPvjTp7jApTavrWl5rdCRapHQM4Fvoe19AG+Dmbs=</latexit>
<latexit sha1_base64="q9jQeFqFfWF+DcoZdS2ETssh+Rw=">AAACpnichVG7SgNBFD1ZXzE+ErURbMSgWIWJCAargI2VqDFGSILujqMumX2wOwnEkB+wFwtBUbAQP8PGH7DIJ4ilgo2FN5sVUdHcZXfOnDnnzr17DVeavmKsFdF6evv6B6KDsaHhkdF4Ymx823eqHhd57kjH2zF0X0jTFnllKil2XE/oliFFwaistM8LNeH5pmNvqborypZ+aJsHJtcVUcWSpasjrstGrrmbSLIUC2L6N0iHIIkw1p3EPUrYhwOOKiwI2FCEJXT49BSRBoNLXBkN4jxCZnAu0ESMvFVSCVLoxFboe0i7YsjatG/n9AM3p1skvR45pzHLHtkte2EP7I49sfc/czWCHO1a6rQaHa9wd+Mnk7m3ri6LVoWjL9c/NX9qfWK9oGJBSk6s7NKrwgEygcOknt2AaXfPO/fWjs9ecsubs405ds2eqe8r1mL31Llde+U3G2LzHDEaXPrnmH6D7YVUmvDGYjKbCUcYxRRmME9zWkIWq1hHPvjTp7jApTavrWl5rdCRapHQM4Fvoe19AG+Dmbs=</latexit>
K, _, gamma = mixsyn(Sys, w1=WS , w2=WU, w3=WT)
7
Digitalization
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<latexit sha1_base64="8feZEoK9b9JChDfQwKyqBk5rKeM=">AAAConichVG7SgNRED2urxhfURvBJhgVQQizIihWARuxSowxQhJkd72JS/bF7iYQQ37AzkowlYKF+Bk2/oBFPkEsFWwsnGxWREWdZe8999xz5s4wqmPonk/U6ZP6BwaHhiMj0dGx8YnJ2NT0vmfXXE3kNNuw3QNV8YShWyLn674hDhxXKKZqiLxa3ere5+vC9XTb2vMbjiiZSsXSy7qm+Ezli46pNldah7EEJSmI+E8ghyCBMNJ27A5FHMGGhhpMCFjwGRtQ4PFXgAyCw1wJTeZcRnpwL9BClL01VglWKMxWea3wqRCyFp+7Ob3ArfErBv8uO+NYpAe6oWe6p1t6pLdfczWDHN1aGryrPa9wDidPZ7Ov/7pM3n0cf7r+qPlD6zHrBhULVmrMGv/06qOMjcChc89OwHS713rv1k/On7Obu4vNJbqiJ+77kjp0x51b9RftOiN224jy4OTvY/oJ9leTMiXlzFoitRaOMII5zGOZ57SOFLaRRi6o7gwXaEsL0o6UkbI9qdQXembwJaTiO+EAl8w=</latexit>
Zero Order Hold ts = 0.2
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Pd = c2d(P, ts, method='zoh')
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<latexit sha1_base64="8feZEoK9b9JChDfQwKyqBk5rKeM=">AAAConichVG7SgNRED2urxhfURvBJhgVQQizIihWARuxSowxQhJkd72JS/bF7iYQQ37AzkowlYKF+Bk2/oBFPkEsFWwsnGxWREWdZe8999xz5s4wqmPonk/U6ZP6BwaHhiMj0dGx8YnJ2NT0vmfXXE3kNNuw3QNV8YShWyLn674hDhxXKKZqiLxa3ere5+vC9XTb2vMbjiiZSsXSy7qm+Ezli46pNldah7EEJSmI+E8ghyCBMNJ27A5FHMGGhhpMCFjwGRtQ4PFXgAyCw1wJTeZcRnpwL9BClL01VglWKMxWea3wqRCyFp+7Ob3ArfErBv8uO+NYpAe6oWe6p1t6pLdfczWDHN1aGryrPa9wDidPZ7Ov/7pM3n0cf7r+qPlD6zHrBhULVmrMGv/06qOMjcChc89OwHS713rv1k/On7Obu4vNJbqiJ+77kjp0x51b9RftOiN224jy4OTvY/oJ9leTMiXlzFoitRaOMII5zGOZ57SOFLaRRi6o7gwXaEsL0o6UkbI9qdQXembwJaTiO+EAl8w=</latexit>
Negative FB
feedback(S1，S2, sign=-1) Tustin ts = 0.2
minreal(sys) Transformation Pd = c2d(P, ts, method='tustin')
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