API Reference¶

pole_placement.servoTool.cli¶

Command-line interface for pole_placement.servoTool.

The CLI preserves the original servo-tool subcommands:

example
design
observer
sim

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

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

Build the command-line parser.

Return type:: ArgumentParser

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

Run the servoTool command-line interface.

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

pole_placement.servoTool.apis¶

class pole_placement.servoTool.apis.DesignResult(K1: 'List[List[float]]', K2: 'List[List[float]]', meta: 'Dict[str, Any]')[source]¶

Bases: object

Parameters:

K1 (List[List[float]])
K2 (List[List[float]])
meta (Dict[str, Any])

K1: List[List[float]]¶

K2: List[List[float]]¶

meta: Dict[str, Any]¶

class pole_placement.servoTool.apis.ObserverResult(Ke: 'List[List[float]]', T: 'List[List[float]]', notes: 'str')[source]¶

Bases: object

Parameters:

Ke (List[List[float]])
T (List[List[float]])
notes (str)

Ke: List[List[float]]¶

T: List[List[float]]¶

notes: str¶

class pole_placement.servoTool.apis.RunRequest(mode: 'str', config: 'Optional[str]' = None, G: 'Optional[str]' = None, H: 'Optional[str]' = None, C: 'Optional[str]' = None, which: 'str' = 'ogata', method: 'str' = 'acker', poles: 'Optional[str]' = None, observer_mode: 'str' = 'current', K1: 'Optional[str]' = None, K2: 'Optional[str]' = None, N: 'int' = 10, ref: 'str' = 'step', use_observer: 'bool' = False, Ke: 'Optional[str]' = None, T: 'Optional[str]' = None, csv: 'Optional[str]' = None, out: 'Optional[str]' = None, plot: 'bool' = False, savefig: 'Optional[str]' = None, plotly: 'bool' = False, html: 'Optional[str]' = None, open_html: 'bool' = False, eq: 'bool' = False, eq_stdout: 'bool' = False, eq_file: 'Optional[str]' = None)[source]¶

Bases: object

Parameters:

mode (str)
config (str | None)
G (str | None)
H (str | None)
C (str | None)
which (str)
method (str)
poles (str | None)
observer_mode (str)
K1 (str | None)
K2 (str | None)
N (int)
ref (str)
use_observer (bool)
Ke (str | None)
T (str | None)
csv (str | None)
out (str | None)
plot (bool)
savefig (str | None)
plotly (bool)
html (str | None)
open_html (bool)
eq (bool)
eq_stdout (bool)
eq_file (str | None)

C: str | None = None¶

G: str | None = None¶

H: str | None = None¶

K1: str | None = None¶

K2: str | None = None¶

Ke: str | None = None¶

N: int = 10¶

T: str | None = None¶

config: str | None = None¶

csv: str | None = None¶

eq: bool = False¶

eq_file: str | None = None¶

eq_stdout: bool = False¶

html: str | None = None¶

method: str = 'acker'¶

mode: str¶

observer_mode: str = 'current'¶

open_html: bool = False¶

out: str | None = None¶

plot: bool = False¶

plotly: bool = False¶

poles: str | None = None¶

ref: str = 'step'¶

savefig: str | None = None¶

use_observer: bool = False¶

which: str = 'ogata'¶

class pole_placement.servoTool.apis.SimResult(y: 'List[float]', u: 'List[float]', k0_u: 'float', summary: 'Dict[str, Any]')[source]¶

Bases: object

Parameters:

y (List[float])
u (List[float])
k0_u (float)
summary (Dict[str, Any])

k0_u: float¶

summary: Dict[str, Any]¶

u: List[float]¶

y: List[float]¶

pole_placement.servoTool.app¶

class pole_placement.servoTool.app.ServoApp[source]¶

Bases: object

run(req)[source]¶

Parameters:: req (RunRequest)

pole_placement.servoTool.core¶

class pole_placement.servoTool.core.MinObserver(Ke: 'np.ndarray', T: 'np.ndarray')[source]¶

Bases: object

Parameters:

Ke (numpy.ndarray)
T (numpy.ndarray)

Ke: numpy.ndarray¶

T: numpy.ndarray¶

class pole_placement.servoTool.core.SimOut(y: 'list[float]', u: 'list[float]', k0_u: 'float')[source]¶

Bases: object

Parameters:

y (list[float])
u (list[float])
k0_u (float)

k0_u: float¶

u: list[float]¶

y: list[float]¶

pole_placement.servoTool.core.acker(A, B, desired_poles)[source]¶

Parameters:

A (numpy.ndarray)
B (numpy.ndarray)
desired_poles (List[complex])

Return type:

numpy.ndarray

pole_placement.servoTool.core.ctrb(A, B)[source]¶

Parameters:

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

Return type:

numpy.ndarray

pole_placement.servoTool.core.design_min_observer(G, H, C, poles=None, method='acker')[source]¶

Parameters:

G (numpy.ndarray)
H (numpy.ndarray)
C (numpy.ndarray)
poles (List[complex] | None)
method (str)

Return type:

MinObserver

pole_placement.servoTool.core.design_servo_aug(G, H, C, poles=None, method='acker')[source]¶

Parameters:

G (numpy.ndarray)
H (numpy.ndarray)
C (numpy.ndarray)
poles (List[complex] | None)
method (str)

Return type:

Tuple[numpy.ndarray, numpy.ndarray]

pole_placement.servoTool.core.design_servo_ogata(G, H, C, poles=None, method='acker')[source]¶

Parameters:

G (numpy.ndarray)
H (numpy.ndarray)
C (numpy.ndarray)
poles (List[complex] | None)
method (str)

Return type:

Tuple[numpy.ndarray, numpy.ndarray]

pole_placement.servoTool.core.measured_form_T(C, n, m)[source]¶

Parameters:

C (numpy.ndarray)
n (int)
m (int)

Return type:

numpy.ndarray

pole_placement.servoTool.core.place_wrapper(A, B, poles, method)[source]¶

Parameters:

A (numpy.ndarray)
B (numpy.ndarray)
poles (List[complex])
method (str)

Return type:

numpy.ndarray

pole_placement.servoTool.core.poly_from_roots(roots)[source]¶

Parameters:: roots (List[complex])
Return type:: numpy.ndarray

pole_placement.servoTool.core.right_inverse(C)[source]¶

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

pole_placement.servoTool.core.simulate_servo(G, H, C, K1, K2, N=10, r_type='step', use_observer=False, minobs=None, observer_mode='current')[source]¶

Parameters:

G (numpy.ndarray)
H (numpy.ndarray)
C (numpy.ndarray)
K1 (numpy.ndarray)
K2 (numpy.ndarray)
N (int)
r_type (str)
use_observer (bool)
minobs (MinObserver | None)
observer_mode (str)

Return type:

SimOut

pole_placement.servoTool.core.to_real_if_close(a, tol=1e-12)[source]¶

Parameters:

a (numpy.ndarray)
tol (float)

Return type:

numpy.ndarray

pole_placement.servoTool.io¶

pole_placement.servoTool.io.force_col(a)[source]¶

Parameters:: a (numpy.ndarray | None)
Return type:: numpy.ndarray | None

pole_placement.servoTool.io.load_yaml(path)[source]¶

Parameters:: path (str | None)
Return type:: Dict[str, Any]

pole_placement.servoTool.io.parse_matrix(s)[source]¶

Parameters:: s (str | None)
Return type:: numpy.ndarray | None

pole_placement.servoTool.io.parse_poles(ps)[source]¶

Parameters:: ps (str | None)
Return type:: list[complex] | None

pole_placement.servoTool.io.write_csv_matrix(M, path)[source]¶

Parameters:

M (numpy.ndarray)
path (str | None)

Return type:

None

pole_placement.servoTool.io.write_csv_series(y, path)[source]¶

Parameters:

y (List[float])
path (str | None)

Return type:

None

pole_placement.servoTool.io.write_json(obj, path)[source]¶

Parameters:

obj (Dict[str, Any])
path (str | None)

Return type:

None

pole_placement.servoTool.utils¶

pole_placement.servoTool.utils.out_path(path)[source]¶

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

pole_placement.servoTool.utils.timed(func)[source]¶

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

pole_placement.servoTool.design¶

pole_placement.servoTool.design.emit_equations(lines, eq_file, eq_stdout)[source]¶

Parameters:

lines (List[str])
eq_file (str | None)
eq_stdout (bool)

Return type:

str

pole_placement.servoTool.design.fmt_num(val)[source]¶

Parameters:: val (float)
Return type:: str

pole_placement.servoTool.design.observer_eqs(mode='current', Ke_shape=None)[source]¶

Parameters:

mode (str)
Ke_shape (tuple[int, int] | None)

Return type:

List[str]

pole_placement.servoTool.design.servo_eqs(G, H, C, K1, K2)[source]¶

Parameters:

G (numpy.ndarray)
H (numpy.ndarray)
C (numpy.ndarray)
K1 (numpy.ndarray)
K2 (numpy.ndarray)

Return type:

List[str]