Title: Change to code for ctrb and obsv by billtubbs · Pull Request #300 · python-control/python-control · GitHub
Open Graph Title: Change to code for ctrb and obsv by billtubbs · Pull Request #300 · python-control/python-control
X Title: Change to code for ctrb and obsv by billtubbs · Pull Request #300 · python-control/python-control
Description: This is not a bug fix. It's a minor speed improvement to statefbk.ctrb and statefbk.obsv. [It's the first time I have contributed to someone else's project so welcome feedback and advice if I'm not doing this correctly] Summary I noticed that you can avoid multiple hstack operations by creating a list first. I've done some testing and I think the behaviour of these methods is unchanged. See my test outputs below. I realise this is a very minor improvement so feel free to ignore. 1. Testing ctrb() Python 3.7.3 | packaged by conda-forge | (default, Mar 27 2019, 15:43:19) Type 'copyright', 'credits' or 'license' for more information IPython 7.5.0 -- An enhanced Interactive Python. Type '?' for help. In [1]: import numpy as np In [2]: import control In [3]: np.random.seed(1) In [4]: cum = 0 In [5]: for i in range(10): ...: A = np.random.randn(i, i) ...: B = np.random.randn(i, 1) ...: cum += control.ctrb(A, B).sum() ...: In [6]: cum Out[6]: -10066.24518631401 In [7]: control.__file__ Out[7]: '/Users/billtubbs/python-control/python-control/control/__init__.py' Results with official control package for comparison Python 3.6.7 | packaged by conda-forge | (default, Feb 28 2019, 02:16:08) Type 'copyright', 'credits' or 'license' for more information IPython 7.3.0 -- An enhanced Interactive Python. Type '?' for help. In [1]: import numpy as np In [2]: import control In [3]: np.random.seed(1) In [4]: cum = 0. In [5]: for i in range(10): ...: A = np.random.randn(i, i) ...: B = np.random.randn(i, 1) ...: cum += control.ctrb(A, B).sum() ...: In [6]: cum Out[6]: -10066.245186314005 In [7]: control.__file__ Out[7]: '/Users/billtubbs/anaconda3/envs/torch/lib/python3.6/site-packages/control/__init__.py' 2. Testing obsv() In [1]: import numpy as np In [2]: import control In [3]: control.__file__ Out[3]: '/Users/billtubbs/python-control/python-control/control/__init__.py' In [4]: np.random.seed(1) In [5]: cum = 0. In [6]: for i in range(10): ...: A = np.random.randn(i, i) ...: C = np.random.randn(1, i) ...: cum += control.obsv(A, C).sum() ...: In [7]: cum Out[7]: -7589.3515984634905 Results with official control package for comparison In [12]: np.random.seed(1) In [13]: cum = 0. In [14]: for i in range(10): ...: A = np.random.randn(i, i) ...: C = np.random.randn(1, i) ...: cum += control.obsv(A, C).sum() ...: In [15]: cum Out[15]: -7589.351598463492 In [16]: control.__file__ Out[16]: '/Users/billtubbs/anaconda3/envs/torch/lib/python3.6/site-packages/control/__init__.py' 3. Speed Tests (In Python 3.7 on a 2013 MacBook Pro) In [8]: def ctrb1(A, B): ...: amat = np.mat(A) ...: bmat = np.mat(B) ...: n = np.shape(amat)[0] ...: ctrb = bmat ...: for i in range(1, n): ...: ctrb = np.hstack((ctrb, amat**i*bmat)) ...: return ctrb ...: In [9]: def ctrb2(A, B): ...: amat = np.mat(A) ...: bmat = np.mat(B) ...: n = np.shape(amat)[0] ...: ctrb = np.hstack([bmat] + [amat**i*bmat for i in range(1, n)]) ...: return ctrb ...: In [11]: np.random.seed(1) In [12]: A = np.random.randn(8, 8) In [13]: B = np.random.randn(8, 1) In [14]: %timeit ctrb1(A, B) 456 µs ± 18 µs per loop (mean ± std. dev. of 7 runs, 1000 loops each) In [15]: %timeit ctrb2(A, B) 378 µs ± 13.2 µs per loop (mean ± std. dev. of 7 runs, 1000 loops each) In [16]: 1-378/456 Out[16]: 0.17105263157894735
Open Graph Description: This is not a bug fix. It's a minor speed improvement to statefbk.ctrb and statefbk.obsv. [It's the first time I have contributed to someone else's project so welcome feedback and advi...
X Description: This is not a bug fix. It's a minor speed improvement to statefbk.ctrb and statefbk.obsv. [It's the first time I have contributed to someone else's project so welcome feedb...
Opengraph URL: https://github.com/python-control/python-control/pull/300
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