API Reference¶

pole_placement.controllabilityTool.cli¶

Command-line interface for pole_placement.controllabilityTool.

The CLI supports two usage styles:

Modern subcommand form:

python -m pole_placement.controllabilityTool.cli run --json in/system.json --pretty

Historical no-subcommand form:

python -m pole_placement.controllabilityTool.cli --json in/system.json --pretty

It also includes a small sphinx-skel helper for generating a conservative, GitHub Pages friendly Sphinx documentation skeleton.

pole_placement.controllabilityTool.cli.build_arg_parser()¶

Build the command-line parser.

Return type:: ArgumentParser

pole_placement.controllabilityTool.cli.build_parser()[source]¶

Build the command-line parser.

Return type:: ArgumentParser

pole_placement.controllabilityTool.cli.main(argv=None)[source]¶

Run the controllabilityTool command-line interface.

Parameters:: argv (list[str] | None)
Return type:: int

pole_placement.controllabilityTool.apis¶

class pole_placement.controllabilityTool.apis.RunRequest(json_path: 'Optional[str]' = None, A: 'Optional[str]' = None, B: 'Optional[str]' = None, C: 'Optional[str]' = None, D: 'Optional[str]' = None, discrete: 'bool' = False, horizon: 'Optional[int]' = None, tol: 'Optional[float]' = None, pbh: 'bool' = False, gram: 'bool' = False, finite_dt: 'Optional[int]' = None, finite_ct: 'Optional[float]' = None, minreal: 'bool' = False, symbolic: 'bool' = False, output_ctrb: 'bool' = False, save_output_csv: 'bool' = False, pretty: 'bool' = False, name: 'str' = 'ctrb', save_csv: 'bool' = False, save_json: 'bool' = False, save_gram: 'bool' = False, report: 'Optional[str]' = None, log: 'str' = 'INFO')[source]¶

Bases: object

Parameters:

json_path (str | None)
A (str | None)
B (str | None)
C (str | None)
D (str | None)
discrete (bool)
horizon (int | None)
tol (float | None)
pbh (bool)
gram (bool)
finite_dt (int | None)
finite_ct (float | None)
minreal (bool)
symbolic (bool)
output_ctrb (bool)
save_output_csv (bool)
pretty (bool)
name (str)
save_csv (bool)
save_json (bool)
save_gram (bool)
report (str | None)
log (str)

A: str | None = None¶

B: str | None = None¶

C: str | None = None¶

D: str | None = None¶

discrete: bool = False¶

finite_ct: float | None = None¶

finite_dt: int | None = None¶

gram: bool = False¶

horizon: int | None = None¶

json_path: str | None = None¶

log: str = 'INFO'¶

minreal: bool = False¶

name: str = 'ctrb'¶

output_ctrb: bool = False¶

pbh: bool = False¶

pretty: bool = False¶

report: str | None = None¶

save_csv: bool = False¶

save_gram: bool = False¶

save_json: bool = False¶

save_output_csv: bool = False¶

symbolic: bool = False¶

tol: float | None = None¶

class pole_placement.controllabilityTool.apis.RunResult(exit_code: 'int', summary_json: 'Optional[str]' = None)[source]¶

Bases: object

Parameters:

exit_code (int)
summary_json (str | None)

exit_code: int¶

summary_json: str | None = None¶

pole_placement.controllabilityTool.app¶

class pole_placement.controllabilityTool.app.ControllabilityApp[source]¶

Bases: object

run(req)[source]¶

Parameters:: req (RunRequest)
Return type:: RunResult

pole_placement.controllabilityTool.core¶

pole_placement.controllabilityTool.core.controllability_matrix(A, B, horizon=None)[source]¶

Parameters:

A (numpy.ndarray)
B (numpy.ndarray)
horizon (int | None)

Return type:

numpy.ndarray

pole_placement.controllabilityTool.core.finite_gramian_ct(A, B, T)[source]¶

Parameters:

A (numpy.ndarray)
B (numpy.ndarray)
T (float)

Return type:

numpy.ndarray

pole_placement.controllabilityTool.core.finite_gramian_dt(A, B, N)[source]¶

Parameters:

A (numpy.ndarray)
B (numpy.ndarray)
N (int)

Return type:

numpy.ndarray

pole_placement.controllabilityTool.core.gramian_controllability_ct(A, B)[source]¶

Parameters:

A (numpy.ndarray)
B (numpy.ndarray)

Return type:

numpy.ndarray | None

pole_placement.controllabilityTool.core.gramian_controllability_dt(A, B)[source]¶

Parameters:

A (numpy.ndarray)
B (numpy.ndarray)

Return type:

numpy.ndarray | None

pole_placement.controllabilityTool.core.minreal_controllable(A, B, tol=None)[source]¶

Parameters:

A (numpy.ndarray)
B (numpy.ndarray)
tol (float | None)

pole_placement.controllabilityTool.core.output_controllability_matrix(A, B, C, horizon=None, D=None)[source]¶

Parameters:

A (numpy.ndarray)
B (numpy.ndarray)
C (numpy.ndarray)
horizon (int | None)
D (numpy.ndarray | None)

Return type:

numpy.ndarray

pole_placement.controllabilityTool.core.pbh_controllable(A, B)[source]¶

Parameters:

A (numpy.ndarray)
B (numpy.ndarray)

Return type:

Tuple[bool, List[Dict[str, Any]]]

pole_placement.controllabilityTool.core.sympy_rank_ctrb(A, B, horizon)[source]¶

Parameters:

A (numpy.ndarray)
B (numpy.ndarray)
horizon (int | None)

Return type:

int | None

pole_placement.controllabilityTool.io¶

pole_placement.controllabilityTool.io.load_from_json(path)[source]¶

Parameters:: path (str)
Return type:: Tuple[numpy.ndarray, numpy.ndarray, bool, numpy.ndarray | None, numpy.ndarray | None]

pole_placement.controllabilityTool.io.parse_matrix_string(s)[source]¶

Parameters:: s (str)
Return type:: numpy.ndarray

pole_placement.controllabilityTool.utils¶

pole_placement.controllabilityTool.utils.ensure_out_dir(path='out')[source]¶

Parameters:: path (str)
Return type:: None

pole_placement.controllabilityTool.utils.rank_numeric(M, tol=None)[source]¶

Parameters:

M (numpy.ndarray)
tol (float | None)

Return type:

int

pole_placement.controllabilityTool.utils.real_if_close_for_control(X)[source]¶

Parameters:: X (numpy.ndarray)
Return type:: numpy.ndarray

pole_placement.controllabilityTool.utils.stable_ct(A)[source]¶

Parameters:: A (numpy.ndarray)
Return type:: bool

pole_placement.controllabilityTool.utils.stable_dt(A)[source]¶

Parameters:: A (numpy.ndarray)
Return type:: bool

pole_placement.controllabilityTool.utils.with_outdir(fn)[source]¶

Parameters:: fn (Callable[[...], Any])
Return type:: Callable[[…], Any]

pole_placement.controllabilityTool.design¶

pole_placement.controllabilityTool.design.fmt_matrix(M, width=10, prec=6)[source]¶

Parameters:

M (numpy.ndarray)
width (int)
prec (int)

Return type:

str

pole_placement.controllabilityTool.design.write_csv(path, M)[source]¶

Parameters:

path (str)
M (numpy.ndarray)

Return type:

None

pole_placement.controllabilityTool.design.write_json(path, obj)[source]¶

Parameters:

path (str)
obj (Dict[str, Any])

Return type:

None

pole_placement.controllabilityTool.design.write_text(path, text)[source]¶

Parameters:

path (str)
text (str)

Return type:

None