test_block_diagram.py 文件源码

def get_electromechanical(b=1, R=1, L=1, K=np.pi/5, M=1):
    # TODO: determine good reference and/or initial_condition
    # TODO: determine good default values for b, R, L, M
    N = 3
    sys = LTISystem(
        np.c_[  # A
            [0, 0, 0],
            [1, -b/M, -K/L],
            [0, K/M, -R/L]
        ],
        np.r_[0, 0, 1/L],  # B
        # np.r_[1, 0, 0],  # C
    )
    sys.initial_condition = np.ones(N)

    def ref_func(*args):
        if len(args) == 1:
            x = np.zeros(N)
        else:
            x = args[1]
        return np.r_[0, 0, 0]-x
    ref = SystemFromCallable(ref_func, N, N)

    return sys, ref