Merge pull request #1051 from KybernetikJo/improve_style_markov

murrayrm · web-flow · commit d75082d87090 · 2024-10-19T11:12:12.000-07:00
Improve code style, markov
diff --git a/control/modelsimp.py b/control/modelsimp.py
@@ -667,21 +667,21 @@ def markov(*args, m=None, transpose=False, dt=None, truncate=False):
 
     # Set up the full problem
     # Create matrix of (shifted) inputs
-    UUT = np.zeros((p*m,(l)))
+    UUT = np.zeros((p*m, l))
     for i in range(m):
         # Shift previous column down and keep zeros at the top
-        UUT[i*p:(i+1)*p,i:] = Umat[:,:l-i]
+        UUT[i*p:(i+1)*p, i:] = Umat[:, :l-i]
 
     # Truncate first t=0 or t=m time steps, transpose the problem for lsq
-    YY = Ymat[:,t:].T
-    UU = UUT[:,t:].T
+    YY = Ymat[:, t:].T
+    UU = UUT[:, t:].T
     
     # Solve for the Markov parameters from  YY = UU @ H.T
     HT, _, _, _ = np.linalg.lstsq(UU, YY, rcond=None)
     H = HT.T/dt # scaling
 
-    H = H.reshape(q,m,p) # output, time*input -> output, time, input
-    H = H.transpose(0,2,1) # output, input, time
+    H = H.reshape(q, m, p) # output, time*input -> output, time, input
+    H = H.transpose(0, 2, 1) # output, input, time
 
     # for siso return a 1D array instead of a 3D array
     if q == 1 and p == 1:
diff --git a/control/tests/docstrings_test.py b/control/tests/docstrings_test.py
@@ -39,7 +39,7 @@
     control.ss2tf:                      '48ff25d22d28e7b396e686dd5eb58831',
     control.tf:                         '53a13f4a7f75a31c81800e10c88730ef',
     control.tf2ss:                      '086a3692659b7321c2af126f79f4bc11',
-    control.markov:                     '753309de348132ef238e78ac756412c1',
+    control.markov:                     'eda7c4635bbb863ae6659e574285d356',
     control.gangof4:                    '0e52eb6cf7ce024f9a41f3ae3ebf04f7',
 }
 

Original file line number	Diff line number	Diff line change
`@@ -39,7 +39,7 @@`
`39`	`39`	`control.ss2tf: '48ff25d22d28e7b396e686dd5eb58831',`
`40`	`40`	`control.tf: '53a13f4a7f75a31c81800e10c88730ef',`
`41`	`41`	`control.tf2ss: '086a3692659b7321c2af126f79f4bc11',`
`42`		`- control.markov: '753309de348132ef238e78ac756412c1',`
	`42`	`+ control.markov: 'eda7c4635bbb863ae6659e574285d356',`
`43`	`43`	`control.gangof4: '0e52eb6cf7ce024f9a41f3ae3ebf04f7',`
`44`	`44`	`}`
`45`	`45`