Module « scipy.signal »

Classe « StateSpace »

Informations générales

Héritage

builtins.object
    LinearTimeInvariant
        StateSpace

Définition

class StateSpace(LinearTimeInvariant):

Description _{[extrait de StateSpace.__doc__]}

    Linear Time Invariant system in state-space form.

    Represents the system as the continuous-time, first order differential
    equation :math:`\dot{x} = A x + B u` or the discrete-time difference
    equation :math:`x[k+1] = A x[k] + B u[k]`. `StateSpace` systems
    inherit additional functionality from the `lti`, respectively the `dlti`
    classes, depending on which system representation is used.

    Parameters
    ----------
    *system: arguments
        The `StateSpace` class can be instantiated with 1 or 4 arguments.
        The following gives the number of input arguments and their
        interpretation:

            * 1: `lti` or `dlti` system: (`StateSpace`, `TransferFunction` or
              `ZerosPolesGain`)
            * 4: array_like: (A, B, C, D)
    dt: float, optional
        Sampling time [s] of the discrete-time systems. Defaults to `None`
        (continuous-time). Must be specified as a keyword argument, for
        example, ``dt=0.1``.

    See Also
    --------
    TransferFunction, ZerosPolesGain, lti, dlti
    ss2zpk, ss2tf, zpk2sos

    Notes
    -----
    Changing the value of properties that are not part of the
    `StateSpace` system representation (such as `zeros` or `poles`) is very
    inefficient and may lead to numerical inaccuracies.  It is better to
    convert to the specific system representation first. For example, call
    ``sys = sys.to_zpk()`` before accessing/changing the zeros, poles or gain.

    Examples
    --------
    >>> from scipy import signal

    >>> a = np.array([[0, 1], [0, 0]])
    >>> b = np.array([[0], [1]])
    >>> c = np.array([[1, 0]])
    >>> d = np.array([[0]])

    >>> sys = signal.StateSpace(a, b, c, d)
    >>> print(sys)
    StateSpaceContinuous(
    array([[0, 1],
           [0, 0]]),
    array([[0],
           [1]]),
    array([[1, 0]]),
    array([[0]]),
    dt: None
    )

    >>> sys.to_discrete(0.1)
    StateSpaceDiscrete(
    array([[1. , 0.1],
           [0. , 1. ]]),
    array([[0.005],
           [0.1  ]]),
    array([[1, 0]]),
    array([[0]]),
    dt: 0.1
    )

    >>> a = np.array([[1, 0.1], [0, 1]])
    >>> b = np.array([[0.005], [0.1]])

    >>> signal.StateSpace(a, b, c, d, dt=0.1)
    StateSpaceDiscrete(
    array([[1. , 0.1],
           [0. , 1. ]]),
    array([[0.005],
           [0.1  ]]),
    array([[1, 0]]),
    array([[0]]),
    dt: 0.1
    )

    

Constructeur(s)

Signature du constructeur	Description
__new__(cls, *system, **kwargs)	Create new StateSpace object and settle inheritance. [extrait de __new__.__doc__]
__init__(self, *system, **kwargs)	Initialize the state space lti/dlti system. [extrait de __init__.__doc__]

Opérateurs hérités de la classe object

__eq__, __ge__, __gt__, __le__, __lt__, __ne__

Méthodes héritées de la classe LinearTimeInvariant

__init_subclass__, __subclasshook__

Méthodes héritées de la classe object

__delattr__, __dir__, __format__, __getattribute__, __hash__, __reduce__, __reduce_ex__, __setattr__, __sizeof__, __str__