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‎.gitattributes‎

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# SCM syntax highlighting
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pixi.lock linguist-language=YAML linguist-generated=true

‎.gitpod.yml‎

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tasks:
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- init: pip install -r requirements.txt

‎.nojekyll‎

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‎.tmp.py‎

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from numpy import *
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from numpy.linalg import *
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from scipy.linalg import *
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from matplotlib.pyplot import *
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from mpl_toolkits.mplot3d import *
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from scipy.integrate import solve_ivp
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# Python 3.x Standard Library
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import gc
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import os
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# Third-Party Packages
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import numpy as np; np.seterr(all="ignore")
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import numpy.linalg as la
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import scipy.misc
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import matplotlib as mpl; mpl.use("Agg")
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import matplotlib.pyplot as pp
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import matplotlib.axes as ax
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import matplotlib.patches as pa
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#
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# Matplotlib Configuration & Helper Functions
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# --------------------------------------------------------------------------
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# TODO: also reconsider line width and markersize stuff "for the web
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# settings".
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fontsize = 10
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width = 345 / 72.27
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height = width / (16/9)
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rc = {
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"text.usetex": True,
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"pgf.preamble": r"\usepackage{amsmath,amsfonts,amssymb}",
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#"font.family": "serif",
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"font.serif": [],
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#"font.sans-serif": [],
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"legend.fontsize": fontsize,
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"axes.titlesize": fontsize,
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"axes.labelsize": fontsize,
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"xtick.labelsize": fontsize,
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"ytick.labelsize": fontsize,
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"figure.max_open_warning": 100,
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#"savefig.dpi": 300,
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#"figure.dpi": 300,
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"figure.figsize": [width, height],
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"lines.linewidth": 1.0,
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}
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mpl.rcParams.update(rc)
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# Web target: 160 / 9 inches (that's ~45 cm, this is huge) at 90 dpi
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# (the "standard" dpi for Web computations) gives 1600 px.
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width_in = 160 / 9
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def save(name, **options):
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cwd = os.getcwd()
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root = os.path.dirname(os.path.realpath(__file__))
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os.chdir(root)
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pp.savefig(name + ".svg", **options)
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os.chdir(cwd)
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def set_ratio(ratio=1.0, bottom=0.1, top=0.1, left=0.1, right=0.1):
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height_in = (1.0 - left - right)/(1.0 - bottom - top) * width_in / ratio
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pp.gcf().set_size_inches((width_in, height_in))
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pp.gcf().subplots_adjust(bottom=bottom, top=1.0-top, left=left, right=1.0-right)
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def Q(f, xs, ys):
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X, Y = meshgrid(xs, ys)
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v = vectorize
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fx = v(lambda x, y: f([x, y])[0])
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fy = v(lambda x, y: f([x, y])[1])
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return X, Y, fx(X, Y), fy(X, Y)
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a = 2.0; x0 = 1.0
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figure()
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t = linspace(0.0, 3.0, 1000)
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plot(t, exp(a*t)*x0, "k")
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xlabel("$t$"); ylabel("$x(t)$"); title(f"$a={a}$")
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grid(); axis([0.0, 2.0, 0.0, 10.0])
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tight_layout()
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save("images/scalar-LTI-2")
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figure()
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plot(real(a), imag(a), "x", color="k")
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gca().set_aspect(1.0)
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xlim(-3,3); ylim(-3,3);
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plot([-3,3], [0,0], "k")
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plot([0, 0], [-3, 3], "k")
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xticks([-2,-1,0,1,2]); yticks([-2,-1,0,1,2])
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title(f"$a={a}$"); grid(True)
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tight_layout()
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save("images/scalar-LTI-2-poles")
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a = 1.0; x0 = 1.0
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figure()
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t = linspace(0.0, 3.0, 1000)
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plot(t, exp(a*t)*x0, "k")
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xlabel("$t$"); ylabel("$x(t)$"); title(f"$a={a}$")
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grid(); axis([0.0, 2.0, 0.0, 10.0])
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tight_layout()
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save("images/scalar-LTI-1")
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figure()
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plot(real(a), imag(a), "x", color="k")
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gca().set_aspect(1.0)
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xlim(-3,3); ylim(-3,3);
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plot([-3,3], [0,0], "k")
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plot([0, 0], [-3, 3], "k")
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xticks([-2,-1,0,1,2]); yticks([-2,-1,0,1,2])
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title(f"$a={a}$"); grid(True)
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tight_layout()
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save("images/scalar-LTI-1-poles")
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a = 0.0; x0 = 1.0
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figure()
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t = linspace(0.0, 3.0, 1000)
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plot(t, exp(a*t)*x0, "k")
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xlabel("$t$"); ylabel("$x(t)$"); title(f"$a={a}$")
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grid(); axis([0.0, 2.0, 0.0, 10.0])
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tight_layout()
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save("images/scalar-LTI-0")
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figure()
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plot(real(a), imag(a), "x", color="k")
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gca().set_aspect(1.0)
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xlim(-3,3); ylim(-3,3);
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plot([-3,3], [0,0], "k")
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plot([0, 0], [-3, 3], "k")
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xticks([-2,-1,0,1,2]); yticks([-2,-1,0,1,2])
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title(f"$a={a}$"); grid(True)
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tight_layout()
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save("images/scalar-LTI-0-poles")
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a = -1.0; x0 = 1.0
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figure()
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t = linspace(0.0, 3.0, 1000)
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plot(t, exp(a*t)*x0, "k")
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xlabel("$t$"); ylabel("$x(t)$"); title(f"$a={a}$")
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grid(); axis([0.0, 2.0, 0.0, 10.0])
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tight_layout()
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save("images/scalar-LTI-m1")
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figure()
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plot(real(a), imag(a), "x", color="k")
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gca().set_aspect(1.0)
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xlim(-3,3); ylim(-3,3);
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plot([-3,3], [0,0], "k")
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plot([0, 0], [-3, 3], "k")
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xticks([-2,-1,0,1,2]); yticks([-2,-1,0,1,2])
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title(f"$a={a}$"); grid(True)
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tight_layout()
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save("images/scalar-LTI-m1-poles")
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a = -2.0; x0 = 1.0
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figure()
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t = linspace(0.0, 3.0, 1000)
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plot(t, exp(a*t)*x0, "k")
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xlabel("$t$"); ylabel("$x(t)$"); title(f"$a={a}$")
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grid(); axis([0.0, 2.0, 0.0, 10.0])
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tight_layout()
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save("images/scalar-LTI-m2")
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figure()
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plot(real(a), imag(a), "x", color="k")
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gca().set_aspect(1.0)
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xlim(-3,3); ylim(-3,3);
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plot([-3,3], [0,0], "k")
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plot([0, 0], [-3, 3], "k")
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xticks([-2,-1,0,1,2]); yticks([-2,-1,0,1,2])
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title(f"$a={a}$"); grid(True)
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tight_layout()
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save("images/scalar-LTI-m2-poles")
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a1 = -1.0; a2 = 2.0; x10 = x20 = 1.0
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figure()
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t = linspace(0.0, 3.0, 1000)
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x1 = exp(a1*t)*x10; x2 = exp(a2*t)*x20
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xn = sqrt(x1**2 + x2**2)
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plot(t, xn , "k")
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plot(t, x1, "k--")
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plot(t, x2 , "k--")
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xlabel("$t$"); ylabel("$\|x(t)\|$"); title(f"$a_1={a1}, \; a_2={a2}$")
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grid(); axis([0.0, 2.0, 0.0, 10.0])
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tight_layout()
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save("images/scalar-LTI-m1p2")
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figure()
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plot(real(a1), imag(a1), "x", color="k")
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plot(real(a2), imag(a2), "x", color="k")
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gca().set_aspect(1.0)
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xlim(-3,3); ylim(-3,3);
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plot([-3,3], [0,0], "k")
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plot([0, 0], [-3, 3], "k")
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xticks([-2,-1,0,1,2]); yticks([-2,-1,0,1,2])
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title(f"$a_1={a1}, \; a_2={a2}$")
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grid(True)
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tight_layout()
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save("images/scalar-LTI-m1p2-poles")
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a1 = -1.0; a2 = -2.0; x10 = x20 = 1.0
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figure()
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t = linspace(0.0, 3.0, 1000)
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x1 = exp(a1*t)*x10; x2 = exp(a2*t)*x20
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xn = sqrt(x1**2 + x2**2)
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plot(t, xn , "k")
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plot(t, x1, "k--")
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plot(t, x2 , "k--")
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xlabel("$t$"); ylabel("$\|x(t)\|$"); title(f"$a_1={a1}, \; a_2={a2}$")
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grid(); axis([0.0, 2.0, 0.0, 10.0])
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tight_layout()
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save("images/scalar-LTI-m1m2")
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figure()
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plot(real(a1), imag(a1), "x", color="k")
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plot(real(a2), imag(a2), "x", color="k")
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gca().set_aspect(1.0)
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xlim(-3,3); ylim(-3,3);
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plot([-3,3], [0,0], "k")
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plot([0, 0], [-3, 3], "k")
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xticks([-2,-1,0,1,2]); yticks([-2,-1,0,1,2])
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title(f"$a_1={a1}, \; a_2={a2}$")
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grid(True)
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tight_layout()
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save("images/scalar-LTI-m1m2-poles")
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a = 1.0j; x0=1.0
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figure()
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t = linspace(0.0, 20.0, 1000)
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plot(t, real(exp(a*t)*x0), label="$\Re(x(t))$")
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plot(t, imag(exp(a*t)*x0), label="$\mathrm{Im}(x(t))$")
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xlabel("$t$")
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legend(); grid()
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tight_layout()
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save("images/scalar-LTI-alt-1")
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fig = figure()
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ax = fig.add_subplot(111, projection="3d")
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zticks = ax.set_zticks
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ax.plot(t, real(exp(a*t)*x0), imag(exp(a*t)*x0))
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xticks([0.0, 20.0]); yticks([]); zticks([])
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ax.set_xlabel("$t$")
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ax.set_ylabel("$\Re(x(t))$")
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ax.set_zlabel("$\mathrm{Im}(x(t))$")
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tight_layout()
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save("images/scalar-LTI-3d")
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figure()
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plot(real(a), imag(a), "x", color="k")
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gca().set_aspect(1.0)
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xlim(-3,3); ylim(-3,3);
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plot([-3,3], [0,0], "k")
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plot([0, 0], [-3, 3], "k")
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xticks([-2,-1,0,1,2]); yticks([-2,-1,0,1,2])
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title(f"$a={a}$"); grid(True)
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tight_layout()
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save("images/scalar-LTI-1j-poles")
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a = -0.5 + 1.0j; x0=1.0
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figure()
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t = linspace(0.0, 20.0, 1000)
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plot(t, real(exp(a*t)*x0), label="$\Re(x(t))$")
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plot(t, imag(exp(a*t)*x0), label="$\mathrm{Im}(x(t))$")
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xlabel("$t$")
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legend(); grid()
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tight_layout()
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save("images/scalar-LTI-alt-2")
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fig = figure()
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ax = fig.add_subplot(111, projection="3d")
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zticks = ax.set_zticks
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ax.plot(t, real(exp(a*t)*x0), imag(exp(a*t)*x0))
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xticks([0.0, 20.0]); yticks([]); zticks([])
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ax.set_xlabel("$t$")
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ax.set_ylabel("$\Re(x(t))$")
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ax.set_zlabel("$\mathrm{Im}(x(t))$")
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tight_layout()
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save("images/scalar-LTI-3d-2")
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figure()
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plot(real(a), imag(a), "x", color="k")
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gca().set_aspect(1.0)
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xlim(-3,3); ylim(-3,3);
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plot([-3,3], [0,0], "k")
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plot([0, 0], [-3, 3], "k")
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xticks([-2,-1,0,1,2]); yticks([-2,-1,0,1,2])
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title(f"$a={a}$")
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grid(True)
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tight_layout()
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save("images/scalar-LTI-m11j-poles")

‎.travis.yml.old‎

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dist: xenial
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language: bash
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env:
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global:
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- CONDA=https://repo.continuum.io/miniconda/Miniconda3-latest-Linux-x86_64.sh
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- MYBINDER=https://mybinder.org/v2/gh/boisgera/control-engineering-with-python/gh-pages
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before_install:
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- sudo apt-get --yes --force-yes install texlive-full
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- sudo apt-get install chromium-browser
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- curl $CONDA > conda.sh
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- bash conda.sh -b -p $HOME/conda
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- export PATH=$HOME/conda/bin:$PATH
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- hash -r
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- conda config --set always_yes yes --set changeps1 no
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- conda update conda
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- conda info -a # debugging
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- conda env create -f environment.yml
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- source activate control-engineering-with-python
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- conda install -c conda-forge nodejs=10.13.0
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- npm install -g --unsafe-perm hummus
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- npm install -g --unsafe-perm decktape
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install:
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- ./build # generate slides and notebooks
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- ./build-pdf
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- rm -rf src # pandoc from git, clean-up for deployment to gh-pages
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- rm -rf conda.sh # clean-up conda installer before deployment
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- mv .gitignore .gitignore.bak # for deployment to gh-pages
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deploy:
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provider: pages
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skip-cleanup: true
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github-token: $GITHUB_TOKEN
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on:
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branch: master
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script:
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- chromium-browser --headless --disable-gpu $MYBINDER
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