API Reference¶

rst_controllers.rstTool.cli¶

Command-line interface for rst_controllers.rstTool.

The CLI supports two usage styles:

Modern subcommand form:

python -m rst_controllers.rstTool.cli run --in_json case.json --pretty

Historical no-subcommand form:

python -m rst_controllers.rstTool.cli --in_json case.json --pretty

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

rst_controllers.rstTool.cli.build_parser()[source]¶

Build the command-line parser.

Return type:: ArgumentParser

rst_controllers.rstTool.cli.main(argv=None)[source]¶

Run the rstTool command-line interface.

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

rst_controllers.rstTool.apis¶

class rst_controllers.rstTool.apis.RunRequest(A: 'List[float]', B: 'List[float]', d: 'int' = 0, Ts: 'float' = 1.0, Acl: 'Optional[List[float]]' = None, poles: 'Optional[List[complex]]' = None, spoles: 'Optional[List[complex]]' = None, Ac: 'Optional[List[float]]' = None, Ao: 'Optional[List[float]]' = None, degS: 'Optional[int]' = None, degR: 'Optional[int]' = None, alloc: 'str' = 'S', integrator: 'bool' = False, Tmode: 'str' = 'unity_dc', T: 'Optional[List[float]]' = None, N: 'int' = 200, r_step: 'float' = 1.0, v_step: 'float' = 0.0, v_k0: 'int' = 0, noise_sigma: 'float' = 0.0, in_json: 'Optional[str]' = None, export_json: 'Optional[str]' = None, save_csv: 'Optional[str]' = None, pretty: 'bool' = False)[source]¶

Bases: object

Parameters:

A (List[float])
B (List[float])
d (int)
Ts (float)
Acl (List[float] | None)
poles (List[complex] | None)
spoles (List[complex] | None)
Ac (List[float] | None)
Ao (List[float] | None)
degS (int | None)
degR (int | None)
alloc (str)
integrator (bool)
Tmode (str)
T (List[float] | None)
N (int)
r_step (float)
v_step (float)
v_k0 (int)
noise_sigma (float)
in_json (str | None)
export_json (str | None)
save_csv (str | None)
pretty (bool)

A: List[float]¶

Ac: List[float] | None = None¶

Acl: List[float] | None = None¶

Ao: List[float] | None = None¶

B: List[float]¶

N: int = 200¶

T: List[float] | None = None¶

Tmode: str = 'unity_dc'¶

Ts: float = 1.0¶

alloc: str = 'S'¶

d: int = 0¶

degR: int | None = None¶

degS: int | None = None¶

export_json: str | None = None¶

in_json: str | None = None¶

integrator: bool = False¶

noise_sigma: float = 0.0¶

poles: List[complex] | None = None¶

pretty: bool = False¶

r_step: float = 1.0¶

save_csv: str | None = None¶

spoles: List[complex] | None = None¶

v_k0: int = 0¶

v_step: float = 0.0¶

class rst_controllers.rstTool.apis.RunResult(R: 'List[float]', S: 'List[float]', Tq: 'List[float]', Acl: 'List[float]', y_final: 'float', u_final: 'float', sse: 'float', csv_path: 'Optional[str]', json_path: 'Optional[str]')[source]¶

Bases: object

Parameters:

R (List[float])
S (List[float])
Tq (List[float])
Acl (List[float])
y_final (float)
u_final (float)
sse (float)
csv_path (str | None)
json_path (str | None)

Acl: List[float]¶

R: List[float]¶

S: List[float]¶

Tq: List[float]¶

csv_path: str | None¶

json_path: str | None¶

sse: float¶

u_final: float¶

y_final: float¶

rst_controllers.rstTool.app¶

class rst_controllers.rstTool.app.RSTApp[source]¶

Bases: object

run(req)[source]¶

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

rst_controllers.rstTool.core¶

class rst_controllers.rstTool.core.DiophantineSolver[source]¶

Bases: object

static recommended_degrees(A, B, d, Acl, integrator, alloc)[source]¶

classmethod solve(A, B, d, Acl, degS, degR, integrator, alloc)[source]¶

rst_controllers.rstTool.core.as_float_array(x)[source]¶

Parameters:: x (Sequence[float])
Return type:: numpy.ndarray

rst_controllers.rstTool.core.deconv_poly_asc(num, den)[source]¶

rst_controllers.rstTool.core.eval_poly_at_one(p)[source]¶

rst_controllers.rstTool.core.poly_add(a, b)[source]¶

rst_controllers.rstTool.core.poly_conv(a, b)[source]¶

rst_controllers.rstTool.core.poly_from_q_factors(ac, ao)[source]¶

rst_controllers.rstTool.core.poly_from_z_poles(poles)[source]¶

rst_controllers.rstTool.core.poly_shift(p, d)[source]¶

rst_controllers.rstTool.core.stable_all(roots, tol=0.9999999999)[source]¶

rst_controllers.rstTool.io¶

rst_controllers.rstTool.io.as_array(x)[source]¶

Parameters:: x (Sequence[float] | None)

rst_controllers.rstTool.io.load_json(in_json)[source]¶

Parameters:: in_json (str | None)
Return type:: dict

rst_controllers.rstTool.io.parse_coeffs(s)[source]¶

Parameters:: s (str | None)

rst_controllers.rstTool.io.parse_complex_list(s)[source]¶

Parameters:: s (str)

rst_controllers.rstTool.io.save_csv(path, rows)[source]¶

Parameters:: path (str | None)

rst_controllers.rstTool.io.save_json_design(path, payload)[source]¶

Parameters:

path (str | None)
payload (dict)

rst_controllers.rstTool.utils¶

rst_controllers.rstTool.utils.ensure_dir(path)[source]¶

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

rst_controllers.rstTool.utils.pkg_in_path(name)[source]¶

Resolve input under rst_controllers/rstTool/in, handling a few common spellings: - “foo.json” -> <pkg>/in/foo.json - “in/foo.json” -> <pkg>/in/foo.json - “rst_controllers/rstTool/in/foo.json” -> <pkg>/in/foo.json Absolute paths are returned untouched.

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

rst_controllers.rstTool.utils.pkg_out_path(name, default_basename)[source]¶

Always write under rst_controllers/rstTool/out regardless of where the process is launched.

Parameters:

name (str | None)
default_basename (str)

Return type:

str | None

rst_controllers.rstTool.utils.timeit(label)[source]¶

Parameters:: label (str)
Return type:: Callable[[Callable[[…], Any]], Callable[[…], Any]]

rst_controllers.rstTool.design¶

class rst_controllers.rstTool.design.SimResult(t: 'np.ndarray', r: 'np.ndarray', y: 'np.ndarray', u: 'np.ndarray', v: 'np.ndarray')[source]¶

Bases: object

Parameters:

t (numpy.ndarray)
r (numpy.ndarray)
y (numpy.ndarray)
u (numpy.ndarray)
v (numpy.ndarray)

r: numpy.ndarray¶

t: numpy.ndarray¶

u: numpy.ndarray¶

v: numpy.ndarray¶

y: numpy.ndarray¶

class rst_controllers.rstTool.design.Simulator[source]¶

Bases: object

static simulate(A, B, d, R, S, Tq, N, r_step, v_step, v_k0, noise_sigma, seed=0)[source]¶

class rst_controllers.rstTool.design.TSelector[source]¶

Bases: object

static choose(mode, B, Acl, Ac, Ao, T_manual, integrator, R)[source]¶

rst_controllers.rstTool.design.diff_eq_strings(R, S, Tq)[source]¶

rst_controllers.rstTool.design.poly_to_str(p, var='q')[source]¶

Parameters:: p (Sequence[float])
Return type:: str