René's URL Explorer Experiment

{"@context":"https://schema.org","@type":"DiscussionForumPosting","headline":"Implementing Generic Input Output Functions","articleBody":"Hello,\n\nI am trying to use this library to model alternative implementations of various algorithms for current control of a 3 phase motor.\n\nThe basic outline is as follows:\n\nCurrent-Target -\u003e PI -\u003e Inverse Park/Clarke -\u003e SVM -\u003e Motor Model -\u003e Current Sense Model -\u003e Park/Clarke -\u003e Current Measured (feedback)\n\nSpecifically my question is it possible to have essentially generic function blocks that given a set of inputs return a set of outputs independent of time. My hope is to be able to have a few versions of these and drop them into the model for comparison. A trivial example I tried was attempting to get the park transform working. I tried the following of trying to hack a non-linear system to do this but it doesn't work (which I believe is expected):\n\n``` python\nimport matplotlib.pyplot as plt\nimport numpy as np\nimport control as ct\n\ndef inverse_park_transformation_out(t, x, u, params):\n    return [x[0],x[1]]\n\ndef inverse_park_transformation(t, x, u, params):\n    q = u[0]\n    d = u[1]\n    angle = u[2]\n\n    alpha = d * np.cos(angle) - q * np.sin(angle)\n    beta = d * np.sin(angle) + q * np.cos(angle)\n\n    return [alpha, beta]\n\ninv_park = ct.nlsys(updfcn=inverse_park_transformation, outfcn=inverse_park_transformation_out, inputs=[\n                    \"q\", \"d\", \"angle\"], outputs=[\"alpha\", \"beta\"], states = [\"alpha\", \"beta\"],name=\"inv_park\")\n\ndt = 50e-6\nf = 100\nt = np.arange(0.0, 0.02, dt)\nq = np.ones_like(t)\nd = np.zeros_like(t)\nangle = np.sin(2 * np.pi * f * t) * np.pi\n\nt, y, s = ct.input_output_response(sys=inv_park, T=t, U=[q, d, angle], return_x=True)\nplt.plot(t, q, label=\"V_q\")\nplt.plot(t, d, label=\"V_d\")\nplt.plot(t, angle, label=\"$\\\\theta$\")\nplt.plot(t, y[0], label=\"v_alpha\")\nplt.plot(t, y[1], label=\"v_beta\")\nplt.legend()\nplt.show()\n```\n","author":{"url":"https://github.com/natecheadle","@type":"Person","name":"natecheadle"},"datePublished":"2025-05-29T15:06:28.000Z","interactionStatistic":{"@type":"InteractionCounter","interactionType":"https://schema.org/CommentAction","userInteractionCount":0},"url":"https://github.com/1149/python-control/issues/1149"}