def test_gbt_with_sio_tf_and_zpk(self):
"""Test method='gbt' with alpha=0.25 for tf and zpk cases."""
# State space coefficients for the continuous SIO system.
A = -1.0
B = 1.0
C = 1.0
D = 0.5
# The continuous transfer function coefficients.
cnum, cden = ss2tf(A, B, C, D)
# Continuous zpk representation
cz, cp, ck = ss2zpk(A, B, C, D)
h = 1.0
alpha = 0.25
# Explicit formulas, in the scalar case.
Ad = (1 + (1 - alpha) * h * A) / (1 - alpha * h * A)
Bd = h * B / (1 - alpha * h * A)
Cd = C / (1 - alpha * h * A)
Dd = D + alpha * C * Bd
# Convert the explicit solution to tf
dnum, dden = ss2tf(Ad, Bd, Cd, Dd)
# Compute the discrete tf using cont2discrete.
c2dnum, c2dden, dt = c2d((cnum, cden), h, method='gbt', alpha=alpha)
assert_allclose(dnum, c2dnum)
assert_allclose(dden, c2dden)
# Convert explicit solution to zpk.
dz, dp, dk = ss2zpk(Ad, Bd, Cd, Dd)
# Compute the discrete zpk using cont2discrete.
c2dz, c2dp, c2dk, dt = c2d((cz, cp, ck), h, method='gbt', alpha=alpha)
assert_allclose(dz, c2dz)
assert_allclose(dp, c2dp)
assert_allclose(dk, c2dk)
def test_gbt_with_sio_tf_and_zpk(self):
"""Test method='gbt' with alpha=0.25 for tf and zpk cases."""
# State space coefficients for the continuous SIO system.
A = -1.0
B = 1.0
C = 1.0
D = 0.5
# The continuous transfer function coefficients.
cnum, cden = ss2tf(A, B, C, D)
# Continuous zpk representation
cz, cp, ck = ss2zpk(A, B, C, D)
h = 1.0
alpha = 0.25
# Explicit formulas, in the scalar case.
Ad = (1 + (1 - alpha) * h * A) / (1 - alpha * h * A)
Bd = h * B / (1 - alpha * h * A)
Cd = C / (1 - alpha * h * A)
Dd = D + alpha * C * Bd
# Convert the explicit solution to tf
dnum, dden = ss2tf(Ad, Bd, Cd, Dd)
# Compute the discrete tf using cont2discrete.
c2dnum, c2dden, dt = d2c((cnum, cden), h, method='gbt', alpha=alpha)
assert_allclose(dnum, c2dnum)
assert_allclose(dden, c2dden)
# Convert explicit solution to zpk.
dz, dp, dk = ss2zpk(Ad, Bd, Cd, Dd)
# Compute the discrete zpk using cont2discrete.
c2dz, c2dp, c2dk, dt = d2c((cz, cp, ck), h, method='gbt', alpha=alpha)
assert_allclose(dz, c2dz)
assert_allclose(dp, c2dp)
assert_allclose(dk, c2dk)
def pole_zero(sys, xlim=None, ylim=None, figax=None, rcParams=None):
if len(sys) == 2:
z, p, k = signal.tf2zpk(*sys)
elif len(sys) == 3:
z, p, k = sys
elif len(sys) == 4:
z, p, k = signal.ss2zpk(*sys)
else:
ValueError("""\
sys must have 2 (transfer function), 3 (zeros, poles, gain),
or 4 (state space) elements. sys is: {}""".format(sys))
return _pole_zero(z, p, k, xlim=xlim, ylim=ylim, figax=figax,
rcParams=rcParams)
def _get_zpk(arg, input=0):
"""Utility method to convert the input arg to a z, p, k representation.
**Parameters:**
arg, which may be:
* ZPK tuple,
* num, den tuple,
* A, B, C, D tuple,
* a scipy LTI object,
* a sequence of the tuples of any of the above types.
input : scalar
In case the system has multiple inputs, which input is to be
considered. Input `0` means first input, and so on.
**Returns:**
The sequence of ndarrays z, p and a scalar k
**Raises:**
TypeError, ValueError
.. warn: support for MISO transfer functions is experimental.
"""
z, p, k = None, None, None
if isinstance(arg, np.ndarray):
# ABCD matrix
A, B, C, D = partitionABCD(arg)
z, p, k = ss2zpk(A, B, C, D, input=input)
elif isinstance(arg, lti):
z, p, k = arg.zeros, arg.poles, arg.gain
elif _is_zpk(arg):
z, p, k = np.atleast_1d(arg[0]), np.atleast_1d(arg[1]), arg[2]
elif _is_num_den(arg):
sys = lti(*arg).to_zpk()
z, p, k = sys.zeros, sys.poles, sys.gain
elif _is_A_B_C_D(arg):
z, p, k = ss2zpk(*arg, input=input)
elif isinstance(arg, collections.Iterable):
ri = 0
for i in arg:
# Note we do not check if the user has assembled a list with
# mismatched lti representations.
if hasattr(i, 'B'):
iis = i.B.shape[1]
if input < ri + iis:
z, p, k = ss2zpk(i.A, i.B, i.C, i.D, input=input - ri)
break
else:
ri += iis
continue
elif _is_A_B_C_D(arg):
iis = arg[1].shape[1]
if input < ri + iis:
z, p, k = ss2zpk(*arg, input=input - ri)
break
else:
ri += iis
continue
else:
if ri == input:
sys = lti(*i)
z, p, k = sys.zeros, sys.poles, sys.gain
break
else:
ri += 1
continue
ri += 1
if (z, p, k) == (None, None, None):
raise ValueError("The LTI representation does not have enough" +
"inputs: max %d, looking for input %d" %
(ri - 1, input))
else:
raise TypeError("Unknown LTI representation: %s" % arg)
return z, p, k
def filter(self, *filt):
"""Apply the given filter to this `TimeSeries`.
All recognised filter arguments are converted either into cascading
second-order sections (if scipy >= 0.16 is installed), or into the
``(numerator, denominator)`` representation before being applied
to this `TimeSeries`.
.. note::
All filters are presumed to be digital (Z-domain), if you have
an analog ZPK (in Hertz or in rad/s) you should be using
`TimeSeries.zpk` instead.
.. note::
When using `scipy` < 0.16 some higher-order filters may be
unstable. With `scipy` >= 0.16 higher-order filters are
decomposed into second-order-sections, and so are much more stable.
Parameters
----------
*filt
one of:
- :class:`scipy.signal.lti`
- `MxN` `numpy.ndarray` of second-order-sections
(`scipy` >= 0.16 only)
- ``(numerator, denominator)`` polynomials
- ``(zeros, poles, gain)``
- ``(A, B, C, D)`` 'state-space' representation
Returns
-------
result : `TimeSeries`
the filtered version of the input `TimeSeries`
See also
--------
TimeSeries.zpk
for instructions on how to filter using a ZPK with frequencies
in Hertz
scipy.signal.sosfilter
for details on the second-order section filtering method
(`scipy` >= 0.16 only)
scipy.signal.lfilter
for details on the filtering method
Raises
------
ValueError
If ``filt`` arguments cannot be interpreted properly
"""
sos = None
# single argument given
if len(filt) == 1:
filt = filt[0]
# detect LTI
if isinstance(filt, signal.lti):
filt = filt
a = filt.den
b = filt.num
# detect SOS
elif isinstance(filt, numpy.ndarray) and filt.ndim == 2:
sos = filt
# detect taps
else:
b = filt
a = [1]
# detect TF
elif len(filt) == 2:
b, a = filt
elif len(filt) == 3:
try:
sos = signal.zpk2sos(*filt)
except AttributeError:
b, a = signal.zpk2tf(*filt)
elif len(filt) == 4:
try:
zpk = signal.ss2zpk(*filt)
sos = signal.zpk2sos(zpk)
except AttributeError:
b, a = signal.ss2tf(*filt)
else:
raise ValueError("Cannot interpret filter arguments. Please "
"give either a signal.lti object, or a "
"tuple in zpk or ba format. See "
"scipy.signal docs for details.")
if sos is not None:
new = signal.sosfilt(sos, self, axis=0).view(self.__class__)
else:
new = signal.lfilter(b, a, self, axis=0).view(self.__class__)
new.__dict__ = self.copy_metadata()
return new
def _get_zpk(arg, input=0):
"""Utility method to convert the input arg to a z, p, k representation.
**Parameters:**
arg, which may be:
* ZPK tuple,
* num, den tuple,
* A, B, C, D tuple,
* a scipy LTI object,
* a sequence of the tuples of any of the above types.
input : scalar
In case the system has multiple inputs, which input is to be
considered. Input `0` means first input, and so on.
**Returns:**
The sequence of ndarrays z, p and a scalar k
**Raises:**
TypeError, ValueError
.. warn: support for MISO transfer functions is experimental.
"""
z, p, k = None, None, None
if isinstance(arg, np.ndarray):
# ABCD matrix
A, B, C, D = partitionABCD(arg)
z, p, k = ss2zpk(A, B, C, D, input=input)
elif hasattr(arg, '__class__') and arg.__class__.__name__ == 'lti':
z, p, k = arg.zeros, arg.poles, arg.gain
elif _is_zpk(arg):
z, p, k = np.atleast_1d(arg[0]), np.atleast_1d(arg[1]), arg[2]
elif _is_num_den(arg):
sys = lti(*arg)
z, p, k = sys.zeros, sys.poles, sys.gain
elif _is_A_B_C_D(arg):
z, p, k = ss2zpk(*arg, input=input)
elif isinstance(arg, collections.Iterable):
ri = 0
for i in arg:
# Note we do not check if the user has assembled a list with
# mismatched lti representations.
if hasattr(i, 'B'):
iis = i.B.shape[1]
if input < ri + iis:
z, p, k = ss2zpk(i.A, i.B, i.C, i.D, input=input - ri)
break
else:
ri += iis
continue
elif _is_A_B_C_D(arg):
iis = arg[1].shape[1]
if input < ri + iis:
z, p, k = ss2zpk(*arg, input=input - ri)
break
else:
ri += iis
continue
else:
if ri == input:
sys = lti(*i)
z, p, k = sys.zeros, sys.poles, sys.gain
break
else:
ri += 1
continue
ri += 1
if (z, p, k) == (None, None, None):
raise ValueError("The LTI representation does not have enough" +
"inputs: max %d, looking for input %d" %
(ri - 1, input))
else:
raise TypeError("Unknown LTI representation: %s" % arg)
return z, p, k
def mapCtoD(sys_c, t=(0, 1), f0=0.0):
"""Map a MIMO continuous-time to an equiv. SIMO discrete-time system.
The criterion for equivalence is that the sampled pulse response
of the CT system must be identical to the impulse response of the DT system.
i.e. If ``yc`` is the output of the CT system with an input ``vc`` taken
from a set of DACs fed with a single DT input ``v``, then ``y``, the output
of the equivalent DT system with input ``v`` satisfies:
``y(n) = yc(n-)`` for integer ``n``. The DACs are characterized by
rectangular impulse responses with edge times specified in the t list.
**Input:**
sys_c : object
the LTI description of the CT system, which can be:
* the ABCD matrix,
* a list-like containing the A, B, C, D matrices,
* a list of zpk tuples (internally converted to SS representation),
* a list of LTI objects.
t : array_like
The edge times of the DAC pulse used to make CT waveforms
from DT inputs. Each row corresponds to one of the system
inputs; [-1 -1] denotes a CT input. The default is [0 1],
for all inputs except the first.
f0 : float
The (normalized) frequency at which the Gp filters' gains are
to be set to unity. Default 0 (DC).
**Output:**
sys : tuple
the LTI description for the DT equivalent, in A, B, C, D
representation.
Gp : list of lists
the mixed CT/DT prefilters which form the samples
fed to each state for the CT inputs.
**Example:**
Map the standard second order CT modulator shown below to its CT
equivalent and verify that its NTF is :math:`(1-z^{-1})^2`.
.. image:: ../doc/_static/mapCtoD.png
:align: center
:alt: mapCtoD block diagram
It can be done as follows::
from __future__ import print_function
import numpy as np
from scipy.signal import lti
from deltasigma import *
LFc = lti([[0, 0], [1, 0]], [[1, -1], [0, -1.5]], [[0, 1]], [[0, 0]])
tdac = [0, 1]
LF, Gp = mapCtoD(LFc, tdac)
LF = lti(*LF)
ABCD = np.vstack((
np.hstack((LF.A, LF.B)),
np.hstack((LF.C, LF.D))
))
NTF, STF = calculateTF(ABCD)
print("NTF:") # after rounding to a 1e-6 resolution
print("Zeros:", np.real_if_close(np.round(NTF.zeros, 6)))
print("Poles:", np.real_if_close(np.round(NTF.poles, 6)))
Prints::
Zeros: [ 1. 1.]
Poles: [ 0. 0.]
Equivalent to::
(z -1)^2
NTF = ----------
z^2
.. seealso:: R. Schreier and B. Zhang, "Delta-sigma modulators employing \
continuous-time circuitry," IEEE Transactions on Circuits and Systems I, \
vol. 43, no. 4, pp. 324-332, April 1996.
"""
# You need to have A, B, C, D specification of the system
Ac, Bc, Cc, Dc = _getABCD(sys_c)
ni = Bc.shape[1]
# Sanitize t
if hasattr(t, "tolist"):
t = t.tolist()
if (type(t) == tuple or type(t) == list) and np.isscalar(t[0]):
t = [t] # we got a simple list, like the default value
if not (type(t) == tuple or type(t) == list) and not (type(t[0]) == tuple or type(t[0]) == list):
raise ValueError("The t argument has an unrecognized shape")
# back to business
t = np.array(t)
if t.shape == (1, 2) and ni > 1:
t = np.vstack((np.array([[-1, -1]]), np.dot(np.ones((ni - 1, 1)), t)))
if t.shape != (ni, 2):
raise ValueError("The t argument has the wrong dimensions.")
di = np.ones(ni).astype(bool)
for i in range(ni):
if t[i, 0] == -1 and t[i, 1] == -1:
di[i] = False
# c2d assumes t1=0, t2=1.
# Also c2d often complains about poor scaling and can even produce
# incorrect results.
A, B, C, D, _ = cont2discrete((Ac, Bc, Cc, Dc), 1, method="zoh")
Bc1 = Bc[:, ~di]
# Examine the discrete-time inputs to see how big the
# augmented matrices need to be.
B1 = B[:, ~di]
D1 = D[:, ~di]
n = A.shape[0]
t2 = np.ceil(t[di, 1]).astype(np.int_)
esn = (t2 == t[di, 1]) and (D[0, di] != 0).T # extra states needed?
npp = n + np.max(t2 - 1 + 1 * esn)
# Augment A to npp x npp, B to np x 1, C to 1 x np.
Ap = padb(padr(A, npp), npp)
for i in range(n + 1, npp):
Ap[i, i - 1] = 1
Bp = np.zeros((npp, 1))
if npp > n:
Bp[n, 0] = 1
Cp = padr(C, npp)
Dp = np.zeros((1, 1))
# Add in the contributions from each DAC
for i in np.flatnonzero(di):
t1 = t[i, 0]
t2 = t[i, 1]
B2 = B[:, i]
D2 = D[:, i]
if t1 == 0 and t2 == 1 and D2 == 0: # No fancy stuff necessary
Bp = Bp + padb(B2, npp)
else:
n1 = np.floor(t1)
n2 = np.ceil(t2) - n1 - 1
t1 = t1 - n1
t2 = t2 - n2 - n1
if t2 == 1 and D2 != 0:
n2 = n2 + 1
extraStateNeeded = 1
else:
extraStateNeeded = 0
nt = n + n1 + n2
if n2 > 0:
if t2 == 1:
Ap[:n, nt - n2 : nt] = Ap[:n, nt - n2 : nt] + np.tile(B2, (1, n2))
else:
Ap[:n, nt - n2 : nt - 1] = Ap[:n, nt - n2 : nt - 1] + np.tile(B2, (1, n2 - 1))
Ap[:n, (nt - 1)] = Ap[:n, (nt - 1)] + _B2formula(Ac, 0, t2, B2)
if n2 > 0: # pulse extends to the next period
Btmp = _B2formula(Ac, t1, 1, B2)
else: # pulse ends in this period
Btmp = _B2formula(Ac, t1, t2, B2)
if n1 > 0:
Ap[:n, n + n1 - 1] = Ap[:n, n + n1 - 1] + Btmp
else:
Bp = Bp + padb(Btmp, npp)
if n2 > 0:
Cp = Cp + padr(np.hstack((np.zeros((D2.shape[0], n + n1)), D2 * np.ones((1, n2)))), npp)
sys = (Ap, Bp, Cp, Dp)
if np.any(~di):
# Compute the prefilters and add in the CT feed-ins.
# Gp = inv(sI - Ac)*(zI - A)/z*Bc1
n, m = Bc1.shape
Gp = np.empty_like(np.zeros((n, m)), dtype=object)
# !!Make this like stf: an array of zpk objects
ztf = np.empty_like(Bc1, dtype=object)
# Compute the z-domain portions of the filters
ABc1 = np.dot(A, Bc1)
for h in range(m):
for i in range(n):
if Bc1[i, h] == 0:
ztf[i, h] = (np.array([]), np.array([0.0]), -ABc1[i, h]) # dt=1
else:
ztf[i, h] = (np.atleast_1d(ABc1[i, h] / Bc1[i, h]), np.array([0.0]), Bc1[i, h]) # dt = 1
# Compute the s-domain portions of each of the filters
stf = np.empty_like(np.zeros((n, n)), dtype=object) # stf[out, in] = zpk
for oi in range(n):
for ii in range(n):
# Doesn't do pole-zero cancellation
stf[oi, ii] = ss2zpk(Ac, np.eye(n), np.eye(n)[oi, :], np.zeros((1, n)), input=ii)
# scipy as of v 0.13 has no support for LTI MIMO systems
# only 'MISO', therefore you can't write:
# stf = ss2zpk(Ac, eye(n), eye(n), np.zeros(n, n)))
for h in range(m):
for i in range(n):
# k = 1 unneded, see below
for j in range(n):
# check the k values for a non-zero term
if stf[i, j][2] != 0 and ztf[j, h][2] != 0:
if Gp[i, h] is None:
Gp[i, h] = {}
Gp[i, h].update({"Hs": [list(stf[i, j])]})
Gp[i, h].update({"Hz": [list(ztf[j, h])]})
else:
Gp[i, h].update({"Hs": Gp[i, h]["Hs"] + [list(stf[i, j])]})
Gp[i, h].update({"Hz": Gp[i, h]["Hz"] + [list(ztf[j, h])]})
# the MATLAB-like cell code for the above statements would have
# been:
# Gp[i, h](k).Hs = stf[i, j]
# Gp[i, h](k).Hz = ztf[j, h]
# k = k + 1
if f0 != 0: # Need to correct the gain terms calculated by c2d
# B1 = gains of Gp @f0;
for h in range(m):
for i in range(n):
B1ih = np.real_if_close(evalMixedTF(Gp[i, h], f0))
# abs() used because ss() whines if B has complex entries...
# This is clearly incorrect.
# I've fudged the complex stuff by including a sign....
B1[i, h] = np.abs(B1ih) * np.sign(np.real(B1ih))
if np.abs(B1[i, h]) < 1e-09:
B1[i, h] = 1e-09 # This prevents NaN in "line 174" below
# Adjust the gains of the pre-filters
for h in range(m):
for i in range(n):
for j in range(max(len(Gp[i, h]["Hs"]), len(Gp[i, h]["Hz"]))):
# The next is "line 174"
Gp[i, h]["Hs"][j][2] = Gp[i, h]["Hs"][j][2] / B1[i, h]
sys = (
sys[0], # Ap
np.hstack((padb(B1, npp), sys[1])), # new B
sys[2], # Cp
np.hstack((D1, sys[3])),
) # new D
return sys, Gp
def mapCtoD(sys_c, t=(0, 1), f0=0.):
"""Map a MIMO continuous-time to an equiv. SIMO discrete-time system.
The criterion for equivalence is that the sampled pulse response
of the CT system must be identical to the impulse response of the DT system.
i.e. If ``yc`` is the output of the CT system with an input ``vc`` taken
from a set of DACs fed with a single DT input ``v``, then ``y``, the output
of the equivalent DT system with input ``v`` satisfies:
``y(n) = yc(n-)`` for integer ``n``. The DACs are characterized by
rectangular impulse responses with edge times specified in the t list.
**Input:**
sys_c : object
the LTI description of the CT system, which can be:
* the ABCD matrix,
* a list-like containing the A, B, C, D matrices,
* a list of zpk tuples (internally converted to SS representation),
* a list of LTI objects.
t : array_like
The edge times of the DAC pulse used to make CT waveforms
from DT inputs. Each row corresponds to one of the system
inputs; [-1 -1] denotes a CT input. The default is [0 1],
for all inputs except the first.
f0 : float
The (normalized) frequency at which the Gp filters' gains are
to be set to unity. Default 0 (DC).
**Output:**
sys : tuple
the LTI description for the DT equivalent, in A, B, C, D
representation.
Gp : list of lists
the mixed CT/DT prefilters which form the samples
fed to each state for the CT inputs.
**Example:**
Map the standard second order CT modulator shown below to its CT
equivalent and verify that its NTF is :math:`(1-z^{-1})^2`.
.. image:: ../doc/_static/mapCtoD.png
:align: center
:alt: mapCtoD block diagram
It can be done as follows::
from __future__ import print_function
import numpy as np
from scipy.signal import lti
from deltasigma import *
LFc = lti([[0, 0], [1, 0]], [[1, -1], [0, -1.5]], [[0, 1]], [[0, 0]])
tdac = [0, 1]
LF, Gp = mapCtoD(LFc, tdac)
LF = lti(*LF)
ABCD = np.vstack((
np.hstack((LF.A, LF.B)),
np.hstack((LF.C, LF.D))
))
NTF, STF = calculateTF(ABCD)
print("NTF:") # after rounding to a 1e-6 resolution
print("Zeros:", np.real_if_close(np.round(NTF.zeros, 6)))
print("Poles:", np.real_if_close(np.round(NTF.poles, 6)))
Prints::
Zeros: [ 1. 1.]
Poles: [ 0. 0.]
Equivalent to::
(z -1)^2
NTF = ----------
z^2
.. seealso:: R. Schreier and B. Zhang, "Delta-sigma modulators employing \
continuous-time circuitry," IEEE Transactions on Circuits and Systems I, \
vol. 43, no. 4, pp. 324-332, April 1996.
"""
# You need to have A, B, C, D specification of the system
Ac, Bc, Cc, Dc = _getABCD(sys_c)
ni = Bc.shape[1]
# Sanitize t
if hasattr(t, 'tolist'):
t = t.tolist()
if (type(t) == tuple or type(t) == list) and np.isscalar(t[0]):
t = [t] # we got a simple list, like the default value
if not (type(t) == tuple or type(t) == list) and \
not (type(t[0]) == tuple or type(t[0]) == list):
raise ValueError("The t argument has an unrecognized shape")
# back to business
t = np.array(t)
if t.shape == (1, 2) and ni > 1:
t = np.vstack((np.array([[-1, -1]]), np.dot(np.ones((ni - 1, 1)), t)))
if t.shape != (ni, 2):
raise ValueError('The t argument has the wrong dimensions.')
di = np.ones(ni).astype(bool)
for i in range(ni):
if t[i, 0] == -1 and t[i, 1] == -1:
di[i] = False
# c2d assumes t1=0, t2=1.
# Also c2d often complains about poor scaling and can even produce
# incorrect results.
A, B, C, D, _ = cont2discrete((Ac, Bc, Cc, Dc), 1, method='zoh')
Bc1 = Bc[:, ~di]
# Examine the discrete-time inputs to see how big the
# augmented matrices need to be.
B1 = B[:, ~di]
D1 = D[:, ~di]
n = A.shape[0]
t2 = np.ceil(t[di, 1]).astype(np.int_)
esn = (t2 == t[di, 1]) and (D[0, di] != 0).T # extra states needed?
npp = n + np.max(t2 - 1 + 1 * esn)
# Augment A to npp x npp, B to np x 1, C to 1 x np.
Ap = padb(padr(A, npp), npp)
for i in range(n + 1, npp):
Ap[i, i - 1] = 1
Bp = np.zeros((npp, 1))
if npp > n:
Bp[n, 0] = 1
Cp = padr(C, npp)
Dp = np.zeros((1, 1))
# Add in the contributions from each DAC
for i in np.flatnonzero(di):
t1 = t[i, 0]
t2 = t[i, 1]
B2 = B[:, i]
D2 = D[:, i]
if t1 == 0 and t2 == 1 and D2 == 0: # No fancy stuff necessary
Bp = Bp + padb(B2, npp)
else:
n1 = np.floor(t1)
n2 = np.ceil(t2) - n1 - 1
t1 = t1 - n1
t2 = t2 - n2 - n1
if t2 == 1 and D2 != 0:
n2 = n2 + 1
extraStateNeeded = 1
else:
extraStateNeeded = 0
nt = n + n1 + n2
if n2 > 0:
if t2 == 1:
Ap[:n,
nt - n2:nt] = Ap[:n, nt - n2:nt] + np.tile(B2, (1, n2))
else:
Ap[:n, nt - n2:nt -
1] = Ap[:n, nt - n2:nt - 1] + np.tile(B2, (1, n2 - 1))
Ap[:n,
(nt - 1)] = Ap[:n,
(nt - 1)] + _B2formula(Ac, 0, t2, B2)
if n2 > 0: # pulse extends to the next period
Btmp = _B2formula(Ac, t1, 1, B2)
else: # pulse ends in this period
Btmp = _B2formula(Ac, t1, t2, B2)
if n1 > 0:
Ap[:n, n + n1 - 1] = Ap[:n, n + n1 - 1] + Btmp
else:
Bp = Bp + padb(Btmp, npp)
if n2 > 0:
Cp = Cp + padr(
np.hstack((np.zeros((D2.shape[0], n + n1)), D2 * np.ones(
(1, n2)))), npp)
sys = (Ap, Bp, Cp, Dp)
if np.any(~di):
# Compute the prefilters and add in the CT feed-ins.
# Gp = inv(sI - Ac)*(zI - A)/z*Bc1
n, m = Bc1.shape
Gp = np.empty_like(np.zeros((n, m)), dtype=object)
# !!Make this like stf: an array of zpk objects
ztf = np.empty_like(Bc1, dtype=object)
# Compute the z-domain portions of the filters
ABc1 = np.dot(A, Bc1)
for h in range(m):
for i in range(n):
if Bc1[i, h] == 0:
ztf[i, h] = (np.array([]), np.array([0.]), -ABc1[i, h]
) # dt=1
else:
ztf[i, h] = (np.atleast_1d(ABc1[i, h] / Bc1[i, h]),
np.array([0.]), Bc1[i, h]) # dt = 1
# Compute the s-domain portions of each of the filters
stf = np.empty_like(np.zeros((n, n)),
dtype=object) # stf[out, in] = zpk
for oi in range(n):
for ii in range(n):
# Doesn't do pole-zero cancellation
stf[oi, ii] = ss2zpk(Ac,
np.eye(n),
np.eye(n)[oi, :],
np.zeros((1, n)),
input=ii)
# scipy as of v 0.13 has no support for LTI MIMO systems
# only 'MISO', therefore you can't write:
# stf = ss2zpk(Ac, eye(n), eye(n), np.zeros(n, n)))
for h in range(m):
for i in range(n):
# k = 1 unneded, see below
for j in range(n):
# check the k values for a non-zero term
if stf[i, j][2] != 0 and ztf[j, h][2] != 0:
if Gp[i, h] is None:
Gp[i, h] = {}
Gp[i, h].update({'Hs': [list(stf[i, j])]})
Gp[i, h].update({'Hz': [list(ztf[j, h])]})
else:
Gp[i, h].update(
{'Hs': Gp[i, h]['Hs'] + [list(stf[i, j])]})
Gp[i, h].update(
{'Hz': Gp[i, h]['Hz'] + [list(ztf[j, h])]})
# the MATLAB-like cell code for the above statements would have
# been:
#Gp[i, h](k).Hs = stf[i, j]
#Gp[i, h](k).Hz = ztf[j, h]
#k = k + 1
if f0 != 0: # Need to correct the gain terms calculated by c2d
# B1 = gains of Gp @f0;
for h in range(m):
for i in range(n):
B1ih = np.real_if_close(evalMixedTF(Gp[i, h], f0))
# abs() used because ss() whines if B has complex entries...
# This is clearly incorrect.
# I've fudged the complex stuff by including a sign....
B1[i, h] = np.abs(B1ih) * np.sign(np.real(B1ih))
if np.abs(B1[i, h]) < 1e-09:
B1[i,
h] = 1e-09 # This prevents NaN in "line 174" below
# Adjust the gains of the pre-filters
for h in range(m):
for i in range(n):
for j in range(max(len(Gp[i, h]['Hs']), len(Gp[i, h]['Hz']))):
# The next is "line 174"
Gp[i, h]['Hs'][j][2] = Gp[i, h]['Hs'][j][2] / B1[i, h]
sys = (
sys[0], # Ap
np.hstack((padb(B1, npp), sys[1])), # new B
sys[2], # Cp
np.hstack((D1, sys[3]))) # new D
return sys, Gp
def realizeNTF_ct(ntf,
form='FB',
tdac=(0, 1),
ordering=None,
bp=None,
ABCDc=None,
method='LOOP'):
"""Realize an NTF with a continuous-time loop filter.
**Parameters:**
ntf : object
A noise transfer function (NTF).
form : str, optional
A string specifying the topology of the loop filter.
* 'FB': Feedback form,
* 'FF': Feedforward form
For the FB structure, the elements of ``Bc`` are calculated
so that the sampled pulse response matches the L1 impulse
response. For the FF structure, ``Cc`` is calculated.
tdac : sequence, optional
The timing for the feedback DAC(s). If ``tdac[0] >= 1``,
direct feedback terms are added to the quantizer.
Multiple timings (one or more per integrator) for the FB
topology can be specified by making tdac a list of lists,
e.g. ``tdac = [[1, 2], [1, 2], [[0.5, 1], [1, 1.5]], []]``
In this example, the first two integrators have
DACs with ``[1, 2]`` timing, the third has a pair of
DACs, one with ``[0.5, 1]`` timing and the other with
``[1, 1.5]`` timing, and there is no direct feedback
DAC to the quantizer.
ordering : sequence, optional
A vector specifying which NTF zero-pair to use in each resonator
Default is for the zero-pairs to be used in the order specified
in the NTF.
bp : sequence, optional
A vector specifying which resonator sections are bandpass.
The default (``zeros(...)``) is for all sections to be lowpass.
ABCDc : ndarray, optional
The loop filter structure, in state-space form.
If this argument is omitted, ABCDc is constructed according
to "form."
method : str, optional
The default fitting method is ``'LOOP'``, which means that
the DT and CT loop responses will be matched.
Alternatively, it is possible to set the method to ``'NTF'``,
which will result in the NTF responses to be matched.
See :ref:`discrete-time-to-continuous-time-mapping` for a
more in-depth discussion.
**Returns:**
ABCDc : ndarray
A state-space description of the CT loop filter
tdac2 : ndarray
A matrix with the DAC timings, including ones
that were automatically added.
**Example:**
Realize the NTF :math:`(1 - z^{-1})^2` with a CT system (cf with the
example at :func:`mapCtoD`).::
from deltasigma import *
ntf = ([1, 1], [0, 0], 1)
ABCDc, tdac2 = realizeNTF_ct(ntf, 'FB')
Returns:
ABCDc::
[[ 0. 0. 1. -1. ]
[ 1. 0. 0. -1.49999999]
[ 0. 1. 0. 0. ]]
tdac2::
[[-1. -1.]
[ 0. 1.]]
"""
ntf_z, ntf_p, _ = _get_zpk(ntf)
ntf_z = carray(ntf_z)
ntf_p = carray(ntf_p)
order = max(ntf_p.shape)
order2 = order // 2
odd = order - 2 * order2
# compensate for limited accuracy of zero calculation
ntf_z[np.abs(ntf_z - 1) < eps**(1. / (1. + order))] = 1.
method = method.upper()
if method not in ('LOOP', 'NTF'):
raise ValueError('Unimplemented matching method %s.' % method)
# check if multiple timings mode
if (type(tdac) == list or type(tdac) == tuple) and len(tdac) and \
(type(tdac[0]) == list or type(tdac[0]) == tuple):
if len(tdac) != order + 1:
msg = 'For multi-timing tdac, len(tdac) ' + \
' must be order+1.'
raise ValueError(msg)
if form != 'FB':
msg = "Currently only supporting form='FB' " + \
'for multi-timing tdac'
raise ValueError(msg)
multi_timing = True
else: # single timing
tdac = carray(tdac)
if np.prod(tdac.shape) != 2:
msg = 'For single-timing tdac, len(tdac) must be 2.'
raise ValueError(msg)
tdac.reshape((2, ))
multi_timing = False
if ordering is None:
ordering = np.arange(order2)
if bp is None:
bp = np.zeros((order2, ))
if not multi_timing:
# Need direct terms for every interval of memory in the DAC
n_direct = int(np.ceil(tdac[1])) - 1
if tdac[0] > 0 and tdac[0] < 1 and tdac[1] > 1 and tdac[1] < 2:
n_extra = n_direct - 1 # tdac pulse spans a sample point
else:
n_extra = n_direct
tdac2 = np.vstack((np.array((-1, -1)), np.array(tdac).reshape(
(1, 2)), 0.5 * np.dot(np.ones((n_extra, 1)), np.array([[-1, 1]])) +
np.cumsum(np.ones(
(n_extra, 2)), 0) + (n_direct - n_extra)))
else:
n_direct = 0
n_extra = 0
if ABCDc is None:
ABCDc = np.zeros((order + 1, order + 2))
# Stuff the A portion
if odd:
ABCDc[0, 0] = np.real(np.log(ntf_z[0]))
ABCDc[1, 0] = 1
dline = np.array([0, 1, 2])
for i in range(order2):
n = bp[i]
i1 = 2 * i + odd
zi = 2 * ordering[i] + odd
w = np.abs(np.angle(ntf_z[zi]))
ABCDc[i1 + dline, i1] = np.array([0, 1, n])
ABCDc[i1 + dline, i1 + 1] = np.array([-w**2, 0, 1 - n])
ABCDc[0, order] = 1
# 2006.10.02 Changed to -1 to make FF STF have +ve gain at DC
ABCDc[0, order + 1] = -1
Ac = ABCDc[:order, :order]
if form == 'FB':
Cc = ABCDc[order, :order].reshape((1, -1))
if not multi_timing:
Bc = np.hstack((np.eye(order), np.zeros((order, 1))))
Dc = np.hstack((np.zeros((1, order)), np.array([[1]])))
tp = np.tile(np.array(tdac).reshape((1, 2)), (order + 1, 1))
else: #Assemble tdac2, Bc and Dc
tdac2 = np.array([[-1, -1]])
Bc = None
Dc = None
Bci = np.hstack((np.eye(order), np.zeros((order, 1))))
Dci = np.hstack((np.zeros((1, order)), np.array([[1]])))
for i in range(len(tdac)):
tdi = tdac[i]
if (type(tdi) in (tuple, list)) and len(tdi) and \
(type(tdi[0]) in (list, tuple)):
for j in range(len(tdi)):
tdj = tdi[j]
tdac2 = np.vstack((tdac2, np.array(tdj).reshape(1,
-1)))
if Bc is not None:
Bc = np.hstack((Bc, Bci[:, i].reshape((-1, 1))))
else:
Bc = Bci[:, i].reshape((-1, 1))
if Dc is not None:
Dc = np.hstack((Dc, Dci[:, i].reshape((-1, 1))))
else:
Dc = Dci[:, i].reshape((-1, 1))
elif len(
tdi): # we got tdac[i] = [a, b] where a, b are scalars
tdac2 = np.vstack((tdac2, np.array(tdi).reshape(1, -1)))
if Bc is not None:
Bc = np.hstack((Bc, Bci[:, i].reshape((-1, 1))))
else:
Bc = Bci[:, i].reshape((-1, 1))
if Dc is not None:
Dc = np.hstack((Dc, Dci[:, i].reshape((-1, 1))))
else:
Dc = Dci[:, i].reshape((-1, 1))
tp = tdac2[1:, :]
elif form == 'FF':
Cc = np.vstack((np.eye(order), np.zeros((1, order))))
Bc = np.vstack((np.array([[-1]]), np.zeros((order - 1, 1))))
Dc = np.vstack((np.zeros((order, 1)), np.array([[1]])))
tp = tdac # 2008-03-24 fix from Ayman Shabra
else:
raise ValueError('Sorry, no code for form "%s".', form)
n_imp = int(np.ceil(2 * order + np.max(tdac2[:, 1]) + 1))
if method == 'LOOP':
# Sample the L1 impulse response
y = impL1(ntf, n_imp)
else:
# Sample the NTF impulse response
y = dimpulse((ntf_z, ntf_p, 1., 1.), t=np.arange(n_imp + 1))[1][0]
y = np.atleast_1d(y.squeeze())
sys_c = []
for i in range(Bc.shape[1]): # number of inputs
sys_tmp = []
for j in range(Cc.shape[0]): # number of outputs
sys_tmp.append(ss2zpk(Ac, Bc, Cc[j, :], Dc[j, :], input=i))
sys_c.append(sys_tmp)
yy = pulse(sys_c, tp, 1, n_imp, 1)
yy = np.squeeze(yy)
# Endow yy with n_extra extra impulses.
# These will need to be implemented with n_extra extra DACs.
# !! Note: if t1=int, matlab says pulse(sys) @t1 ~=0
# !! This code corrects this problem.
if n_extra > 0:
y_right = padb(np.vstack((np.zeros((1, n_direct)), np.eye(n_direct))),
n_imp + 1)
# Replace the last column in yy with an ordered set of impulses
if (n_direct > n_extra):
yy = np.hstack((yy, y_right[:, 1:]))
else:
yy = np.hstack((yy[:, :-1], y_right))
if method == 'NTF':
# convolve CT loop response and NTF response
yynew = None
for i in range(yy.shape[1]):
yytmp = np.convolve(yy[:, i], y)[:-n_imp]
if yynew is None:
yynew = yytmp.reshape((-1, 1))
else:
yynew = np.hstack((yynew, yytmp.reshape((-1, 1))))
yy = yynew
e1 = np.zeros(y.shape)
e1[0] = 1.
y = y - e1
# Solve for the coefficients
x = linalg.lstsq(yy, y)[0]
if linalg.norm(np.dot(yy, x) - y) > 0.0001:
warn('Pulse response fit is poor.')
if form == 'FB':
if not multi_timing:
Bc2 = np.hstack((x[:order].reshape(
(-1, 1)), np.zeros((order, n_extra))))
if n_extra > 0:
Dc2 = np.hstack((np.array([[0]]), x[order:].reshape((-1, 1))))
else:
Dc2 = x[order:].reshape((-1, 1))
else:
BcDc = np.vstack((Bc, Dc))
i = np.nonzero(BcDc)
BcDc[i] = x
Bc2 = BcDc[:-1, :]
Dc2 = BcDc[-1, :]
elif form == 'FF':
Bc2 = np.hstack((Bc, np.zeros((order, n_extra))))
Cc = x[:order].reshape((1, -1))
if n_extra > 0:
Dc2 = np.hstack((np.array([[0]]), x[order:].T))
else:
Dc2 = x[order:].T
Dc1 = np.zeros((1, 1))
Dc = np.hstack((Dc1, np.atleast_2d(Dc2)))
Bc1 = np.vstack((np.ones((1, 1)), np.zeros((order - 1, 1))))
Bc = np.hstack((Bc1, Bc2))
# Scale Bc1 for unity STF magnitude at f0
fz = np.angle(ntf_z) / (2 * np.pi)
f1 = fz[0]
ibz = np.abs(fz - f1) <= np.abs(fz + f1)
fz = fz[ibz]
f0 = np.mean(fz)
if np.min(np.abs(fz)) < 3 * np.min(np.abs(fz - f0)):
f0 = 0
L0c = ss2zpk(Ac, Bc1, Cc, Dc1)
G0 = evalTFP(L0c, ntf, f0)
if f0 == 0:
Bc[:, 0] = np.dot(
Bc[:, 0],
np.abs(
np.dot(Bc[0, 1:], (tdac2[1:, 1] - tdac2[1:, 0])) / Bc[0, 0]))
else:
Bc[:, 0] = Bc[:, 0] / np.abs(G0)
ABCDc = np.vstack((np.hstack((Ac, Bc)), np.hstack((Cc, Dc))))
#ABCDc = np.dot(ABCDc, np.abs(ABCDc) > eps**(1./2.))
ABCDc[np.nonzero(np.abs(ABCDc) < eps**(1. / 2))] = 0.
return ABCDc, tdac2
def calculateTF(ABCD, k=1.):
"""Calculate the NTF and STF of a delta-sigma modulator.
The calculation is performed for a given loop filter
ABCD matrix, assuming a quantizer gain of ``k``.
**Parameters:**
ABCD : array_like,
The ABCD matrix that describes the system.
k : float or ndarray-like, optional
The quantizer gains. If only one quantizer is present, it may be set
to a float, corresponding to the quantizer gain. If multiple quantizers
are present, a list should be used, with quantizer gains ordered
according to the order in which the quantizer inputs appear in the
``C`` and ``D`` submatrices. If not specified, a default of one quantizer
with gain ``1.`` is assumed.
**Returns:**
(NTF, STF) : a tuple of two LTI objects (or of two lists of LTI objects).
If a version of the ``scipy`` library equal to 0.16.x or
greater is in use, the objects will be ``ZeroPolesGain``
objects, a subclass of ``scipy.signal.lti``.
If the system has multiple quantizers, multiple STFs and NTFs will be
returned.
In that case:
* ``STF[i]`` is the STF from ``u`` to output number ``i``.
* ``NTF[i, j]`` is the NTF from the quantization noise of the quantizer
number ``j`` to output number ``i``.
**Note:**
Setting ``k`` to a list is unsupported in the MATLAB code (last checked
Nov. 2014).
**Example:**
Realize a fifth-order modulator with the cascade-of-resonators structure,
feedback form. Calculate the ABCD matrix of the loop filter and verify
that the NTF and STF are correct.
.. code-block:: python
from deltasigma import *
H = synthesizeNTF(5, 32, 1)
a, g, b, c = realizeNTF(H)
ABCD = stuffABCD(a,g,b,c)
ntf, stf = calculateTF(ABCD)
From which we get:
``H``::
(z -1) (z^2 -1.997z +1) (z^2 -1.992z +0.9999)
--------------------------------------------------------
(z -0.7778) (z^2 -1.796z +0.8549) (z^2 -1.613z +0.665)
coefficients::
a: 0.0007, 0.0084, 0.055, 0.2443, 0.5579
g: 0.0028, 0.0079
b: 0.0007, 0.0084, 0.055, 0.2443, 0.5579, 1.0
c: 1.0, 1.0, 1.0, 1.0, 1.0
ABCD matrix::
[[ 1.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00
0.00000000e+00 6.75559806e-04 -6.75559806e-04]
[ 1.00000000e+00 1.00000000e+00 -2.79396240e-03 0.00000000e+00
0.00000000e+00 8.37752565e-03 -8.37752565e-03]
[ 1.00000000e+00 1.00000000e+00 9.97206038e-01 0.00000000e+00
0.00000000e+00 6.33294166e-02 -6.33294166e-02]
[ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00000000e+00
-7.90937431e-03 2.44344030e-01 -2.44344030e-01]
[ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00000000e+00
9.92090626e-01 8.02273699e-01 -8.02273699e-01]
[ 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00
1.00000000e+00 1.00000000e+00 0.00000000e+00]]
NTF::
(z -1) (z^2 -1.997z +1) (z^2 -1.992z +0.9999)
--------------------------------------------------------
(z -0.7778) (z^2 -1.796z +0.8549) (z^2 -1.613z +0.665)
STF::
1
"""
nq = len(k) if type(k) in (tuple, list) else 1
A, B, C, D = partitionABCD(ABCD, m=nq + 1, r=nq)
k = carray(k)
diagk = np.atleast_2d(np.diag(k))
B1 = B[:, 0]
B2 = B[:, 1:]
B1 = B1.reshape((B1.shape[0], 1)) if len(B1.shape) == 1 else B1
B2 = B2.reshape((B2.shape[0], 1)) if len(B2.shape) == 1 else B2
# In a single-quantizer system, D2 should be all zeros, as any
# non-zero term in D2 would imply we got a delay-free loop.
# The original MATLAB code implies so.
# The trouble arises when we adapt and extend the code to calculate
# the transfer functions for multiple-quantizer systems. There the
# off-diagonal terms of D2 may very well be non-zero, therefore
# in the following we consider D2.
# this means that if you supply an ABCD matrix, with one quantizer
# and an (erroneously) zero-delay loop, the MATLAB toolbox will
# disregard D2 and pretend it's zero and the loop is correctly
# delayed, spitting out the corresponding TF.
# Instead here we print out a warning and process the ABCD matrix
# with the user-supplied, non-zero D2 matrix.
# The resulting TFs will obviously be different.
D1 = D[:, 0]
D2 = D[:, 1:]
D1 = D1.reshape((D1.shape[0], 1)) if len(D1.shape) == 1 else D1
D2 = D2.reshape((D2.shape[0], 1)) if len(D2.shape) == 1 else D2
# WARN DELAY FREE LOOPS
if np.diag(D2).any():
warn("Delay free loop detected! D2 diag: %s", str(np.diag(D2)))
# Find the noise transfer function by forming the closed-loop
# system (sys_cl) in state-space form.
Ct = np.linalg.inv(np.eye(nq) - D2 * diagk)
Acl = A + np.dot(B2, np.dot(Ct, np.dot(diagk, C)))
Bcl = np.hstack(
(B1 + np.dot(B2, np.dot(Ct, np.dot(diagk, D1))), np.dot(B2, Ct)))
Ccl = np.dot(Ct, np.dot(diagk, C))
Dcl = np.dot(Ct, np.hstack((np.dot(diagk, D1), np.eye(nq))))
tol = min(1e-3, max(1e-6, eps**(1 / ABCD.shape[0])))
ntfs = np.empty((nq, Dcl.shape[0]), dtype=np.object_)
stfs = np.empty((Dcl.shape[0], ), dtype=np.object_)
# sweep the outputs 'cause scipy is silly but we love it anyhow.
for i in range(Dcl.shape[0]):
# input #0 is the signal
# inputs #1,... are quantization noise
stf_z, stf_p, stf_k = ss2zpk(Acl, Bcl, Ccl[i, :], Dcl[i, :], input=0)
stf = lti(stf_z, stf_p, stf_k)
for j in range(nq):
ntf_z, ntf_p, ntf_k = ss2zpk(Acl,
Bcl,
Ccl[i, :],
Dcl[i, :],
input=j + 1)
ntf = lti(ntf_z, ntf_p, ntf_k)
stf_min, ntf_min = minreal((stf, ntf), tol)
ntfs[i, j] = ntf_min
stfs[i] = stf_min
# if we have one stf and one ntf, then just return those in a list
if ntfs.shape == (1, 1):
return [ntfs[0, 0], stfs[0]]
return ntfs, stfs
def calculateTF(ABCD, k=1.):
"""Calculate the NTF and STF of a delta-sigma modulator.
The calculation is performed for a given loop filter
ABCD matrix, assuming a quantizer gain of ``k``.
**Parameters:**
ABCD : array_like,
The ABCD matrix that describes the system.
k : float, optional
The quantizer gain. If not specified, a default value of 1 is used.
**Returns:**
(NTF, STF) : a tuple of two LTI objects.
**Example:**
Realize a fifth-order modulator with the cascade-of-resonators structure,
feedback form. Calculate the ABCD matrix of the loop filter and verify
that the NTF and STF are correct.
.. code-block:: python
from deltasigma import *
H = synthesizeNTF(5, 32, 1)
a, g, b, c = realizeNTF(H)
ABCD = stuffABCD(a,g,b,c)
ntf, stf = calculateTF(ABCD)
From which we get:
``H``::
(z -1) (z^2 -1.997z +1) (z^2 -1.992z +0.9999)
--------------------------------------------------------
(z -0.7778) (z^2 -1.796z +0.8549) (z^2 -1.613z +0.665)
coefficients::
a: 0.0007, 0.0084, 0.055, 0.2443, 0.5579
g: 0.0028, 0.0079
b: 0.0007, 0.0084, 0.055, 0.2443, 0.5579, 1.0
c: 1.0, 1.0, 1.0, 1.0, 1.0
ABCD matrix::
[[ 1.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00
0.00000000e+00 6.75559806e-04 -6.75559806e-04]
[ 1.00000000e+00 1.00000000e+00 -2.79396240e-03 0.00000000e+00
0.00000000e+00 8.37752565e-03 -8.37752565e-03]
[ 1.00000000e+00 1.00000000e+00 9.97206038e-01 0.00000000e+00
0.00000000e+00 6.33294166e-02 -6.33294166e-02]
[ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00000000e+00
-7.90937431e-03 2.44344030e-01 -2.44344030e-01]
[ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00000000e+00
9.92090626e-01 8.02273699e-01 -8.02273699e-01]
[ 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00
1.00000000e+00 1.00000000e+00 0.00000000e+00]]
NTF::
(z -1) (z^2 -1.997z +1) (z^2 -1.992z +0.9999)
--------------------------------------------------------
(z -0.7778) (z^2 -1.796z +0.8549) (z^2 -1.613z +0.665)
STF::
1
"""
A, B, C, D = partitionABCD(ABCD)
if B.shape[1] > 1:
B1 = B[:, 0]
B2 = B[:, 1]
B1 = B1.reshape((B1.shape[0], 1)) if len(B1.shape) == 1 else B1
B2 = B2.reshape((B2.shape[0], 1)) if len(B2.shape) == 1 else B2
else:
B1 = B
B2 = B
# Find the noise transfer function by forming the closed-loop
# system (sys_cl) in state-space form.
Acl = A + k * np.dot(B2, C)
Bcl = np.hstack((B1 + k*B2*D[0, 0], B2))
Ccl = k*C
Dcl = np.array((k*D[0, 0], 1.))
Dcl = Dcl.reshape((1, Dcl.shape[0])) if len(Dcl.shape) == 1 else Dcl
tol = min(1e-3, max(1e-6, eps**(1/ABCD.shape[0])))
# input #0 is the signal
# input #1 is the quantization noise
stf_p, stf_z, stf_k = ss2zpk(Acl, Bcl, Ccl, Dcl, input=0)
ntf_p, ntf_z, ntf_k = ss2zpk(Acl, Bcl, Ccl, Dcl, input=1)
stf = lti(stf_p, stf_z, stf_k)
ntf = lti(ntf_p, ntf_z, ntf_k)
stf_min, ntf_min = minreal((stf, ntf), tol)
return ntf_min, stf_min
_sys2ss = {
_LSYS: lambda sys: _ss(sys.ss),
_LFILT: lambda sys: _ss(tf2ss(sys.num, sys.den)),
_NUM: lambda sys: _ss(tf2ss(sys, 1)),
_TF: lambda sys: _ss(tf2ss(*sys)),
_ZPK: lambda sys: _ss(zpk2ss(*sys)),
_SS: lambda sys: _ss(sys),
}
_sys2zpk = {
_LSYS: lambda sys: sys.zpk,
_LFILT: lambda sys: tf2zpk(sys.num, sys.den),
_NUM: lambda sys: tf2zpk(sys, 1),
_TF: lambda sys: tf2zpk(*sys),
_ZPK: lambda sys: sys,
_SS: lambda sys: ss2zpk(*sys),
}
_sys2tf = {
_LSYS: lambda sys: sys.tf,
_LFILT: lambda sys: _tf(sys.num, sys.den),
_NUM: lambda sys: _tf(sys, 1),
_TF: lambda sys: _tf(*sys),
_ZPK: lambda sys: _tf(*zpk2tf(*sys)),
_SS: lambda sys: _tf(*_ss2tf(*sys)),
}
def sys2ss(sys):
"""Converts an LTI system in any form to state-space."""
return _sys2ss[_sys2form(sys)](sys)
def realizeNTF_ct(ntf, form='FB', tdac=(0, 1), ordering=None, bp=None,
ABCDc=None):
"""Realize an NTF with a continuous-time loop filter.
**Parameters:**
ntf : object
A noise transfer function (NTF).
form : str, optional
A string specifying the topology of the loop filter.
* 'FB': Feedback form,
* 'FF': Feedforward form
For the FB structure, the elements of ``Bc`` are calculated
so that the sampled pulse response matches the L1 impulse
response. For the FF structure, ``Cc`` is calculated.
tdac : sequence, optional
The timing for the feedback DAC(s). If ``tdac[0] >= 1``,
direct feedback terms are added to the quantizer.
Multiple timings (one or more per integrator) for the FB
topology can be specified by making tdac a list of lists,
e.g. ``tdac = [[1, 2], [1, 2], [[0.5, 1], [1, 1.5]], []]``
In this example, the first two integrators have
DACs with ``[1, 2]`` timing, the third has a pair of
DACs, one with ``[0.5, 1]`` timing and the other with
``[1, 1.5]`` timing, and there is no direct feedback
DAC to the quantizer.
ordering : sequence, optional
A vector specifying which NTF zero-pair to use in each resonator
Default is for the zero-pairs to be used in the order specified
in the NTF.
bp : sequence, optional
A vector specifying which resonator sections are bandpass.
The default (``zeros(...)``) is for all sections to be lowpass.
ABCDc : ndarray, optional
The loop filter structure, in state-space form.
If this argument is omitted, ABCDc is constructed according
to "form."
**Returns:**
ABCDc : ndarray
A state-space description of the CT loop filter
tdac2 : ndarray
A matrix with the DAC timings, including ones
that were automatically added.
**Example:**
Realize the NTF :math:`(1 - z^{-1})^2` with a CT system (cf with the
example at :func:`mapCtoD`).::
from deltasigma import *
ntf = ([1, 1], [0, 0], 1)
ABCDc, tdac2 = realizeNTF_ct(ntf, 'FB')
Returns:
ABCDc::
[[ 0. 0. 1. -1. ]
[ 1. 0. 0. -1.49999999]
[ 0. 1. 0. 0. ]]
tdac2::
[[-1. -1.]
[ 0. 1.]]
"""
ntf_z, ntf_p, _ = _get_zpk(ntf)
ntf_z = carray(ntf_z)
ntf_p = carray(ntf_p)
order = max(ntf_p.shape)
order2 = int(np.floor(order/2.))
odd = order - 2*order2
# compensate for limited accuracy of zero calculation
ntf_z[np.abs(ntf_z - 1) < eps**(1./(1. + order))] = 1.
# check if multiple timings mode
if (type(tdac) == list or type(tdac) == tuple) and len(tdac) and \
(type(tdac[0]) == list or type(tdac[0]) == tuple):
if len(tdac) != order + 1:
msg = 'For multi-timing tdac, len(tdac) ' + \
' must be order+1.'
raise ValueError(msg)
if form != 'FB':
msg = "Currently only supporting form='FB' " + \
'for multi-timing tdac'
raise ValueError(msg)
multi_timing = True
else: # single timing
tdac = carray(tdac)
if np.prod(tdac.shape) != 2:
msg = 'For single-timing tdac, len(tdac) must be 2.'
raise ValueError(msg)
tdac.reshape((2,))
multi_timing = False
if ordering is None:
ordering = np.arange(order2)
if bp is None:
bp = np.zeros((order2,))
if not multi_timing:
# Need direct terms for every interval of memory in the DAC
n_direct = np.ceil(tdac[1]) - 1
if tdac[0] > 0 and tdac[0] < 1 and tdac[1] > 1 and tdac[1] < 2:
n_extra = n_direct - 1 # tdac pulse spans a sample point
else:
n_extra = n_direct
tdac2 = np.vstack(
(np.array((-1, -1)),
np.array(tdac).reshape((1, 2)),
0.5*np.dot(np.ones((n_extra, 1)), np.array([[-1, 1]]))
+ np.cumsum(np.ones((n_extra, 2)), 0) + (n_direct - n_extra)
))
else:
n_direct = 0
n_extra = 0
if ABCDc is None:
ABCDc = np.zeros((order + 1, order + 2))
# Stuff the A portion
if odd:
ABCDc[0, 0] = np.real(np.log(ntf_z[0]))
ABCDc[1, 0] = 1
dline = np.array([0, 1, 2])
for i in range(order2):
n = bp[i]
i1 = 2*i + odd
zi = 2*ordering[i] + odd
w = np.abs(np.angle(ntf_z[zi]))
ABCDc[i1 + dline, i1] = np.array([0, 1, n])
ABCDc[i1 + dline, i1 + 1] = np.array([-w**2, 0, 1 - n])
ABCDc[0, order] = 1
# 2006.10.02 Changed to -1 to make FF STF have +ve gain at DC
ABCDc[0, order + 1] = -1
Ac = ABCDc[:order, :order]
if form == 'FB':
Cc = ABCDc[order, :order].reshape((1, -1))
if not multi_timing:
Bc = np.hstack((np.eye(order), np.zeros((order, 1))))
Dc = np.hstack((np.zeros((1, order)), np.array([[1]])))
tp = np.tile(np.array(tdac).reshape((1, 2)), (order + 1, 1))
else: #Assemble tdac2, Bc and Dc
tdac2 = np.array([[-1, -1]])
Bc = None
Dc = None
Bci = np.hstack((np.eye(order), np.zeros((order, 1))))
Dci = np.hstack((np.zeros((1, order)), np.array([[1]])))
for i in range(len(tdac)):
tdi = tdac[i]
if (type(tdi) in (tuple, list)) and len(tdi) and \
(type(tdi[0]) in (list, tuple)):
for j in range(len(tdi)):
tdj = tdi[j]
tdac2 = np.vstack((tdac2,
np.array(tdj).reshape(1,-1)))
if Bc is not None:
Bc = np.hstack((Bc, Bci[:, i].reshape((-1, 1))))
else:
Bc = Bci[:, i].reshape((-1, 1))
if Dc is not None:
Dc = np.hstack((Dc, Dci[:, i].reshape((-1, 1))))
else:
Dc = Dci[:, i].reshape((-1, 1))
elif len(tdi): # we got tdac[i] = [a, b] where a, b are scalars
tdac2 = np.vstack((tdac2,
np.array(tdi).reshape(1,-1)))
if Bc is not None:
Bc = np.hstack((Bc, Bci[:, i].reshape((-1, 1))))
else:
Bc = Bci[:, i].reshape((-1, 1))
if Dc is not None:
Dc = np.hstack((Dc, Dci[:, i].reshape((-1, 1))))
else:
Dc = Dci[:, i].reshape((-1, 1))
tp = tdac2[1:, :]
elif form == 'FF':
Cc = np.vstack((np.eye(order), np.zeros((1, order))))
Bc = np.vstack((np.array([[-1]]), np.zeros((order-1, 1))))
Dc = np.vstack((np.zeros((order, 1)), np.array([[1]])))
tp = tdac # 2008-03-24 fix from Ayman Shabra
else:
raise ValueError('Sorry, no code for form "%s".', form)
# Sample the L1 impulse response
n_imp = np.ceil(2*order + np.max(tdac2[:, 1]) + 1)
y = impL1(ntf, n_imp)
sys_c = []
for i in range(Bc.shape[1]): # number of inputs
sys_tmp = []
for j in range(Cc.shape[0]): # number of outputs
sys_tmp.append(ss2zpk(Ac, Bc, Cc[j, :], Dc[j, :], input=i))
sys_c.append(sys_tmp)
yy = pulse(sys_c, tp, 1, n_imp, 1)
yy = np.squeeze(yy)
# Endow yy with n_extra extra impulses.
# These will need to be implemented with n_extra extra DACs.
# !! Note: if t1=int, matlab says pulse(sys) @t1 ~=0
# !! This code corrects this problem.
if n_extra > 0:
y_right = padb(np.vstack((np.zeros((1, n_direct)),
np.eye(n_direct))),
n_imp + 1)
# Replace the last column in yy with an ordered set of impulses
if (n_direct > n_extra):
yy = np.hstack((yy, y_right[:, 1:]))
else:
yy = np.hstack((yy[:, :-1], y_right))
# Solve for the coefficients
x = linalg.lstsq(yy, y)[0]
if linalg.norm(np.dot(yy, x) - y) > 0.0001:
warn('Pulse response fit is poor.')
if form == 'FB':
if not multi_timing:
Bc2 = np.hstack((x[:order].reshape((-1, 1)),
np.zeros((order, n_extra))))
if n_extra > 0:
Dc2 = np.hstack((np.array([[0]]),
x[order:].reshape((-1, 1))))
else:
Dc2 = x[order:].reshape((-1, 1))
else:
BcDc = np.vstack((Bc, Dc))
i = np.nonzero(BcDc)
BcDc[i] = x
Bc2 = BcDc[:-1, :]
Dc2 = BcDc[-1, :]
elif form == 'FF':
Bc2 = np.hstack((Bc, np.zeros((order, n_extra))))
Cc = x[:order].reshape((1, -1))
if n_extra > 0:
Dc2 = np.hstack((np.array([[0]]), x[order:].T))
else:
Dc2 = x[order:].T
Dc1 = np.zeros((1, 1))
Dc = np.hstack((Dc1, np.atleast_2d(Dc2)))
Bc1 = np.vstack((np.ones((1, 1)), np.zeros((order - 1, 1))))
Bc = np.hstack((Bc1, Bc2))
# Scale Bc1 for unity STF magnitude at f0
fz = np.angle(ntf_z)/(2*np.pi)
f1 = fz[0]
ibz = np.abs(fz - f1) <= np.abs(fz + f1)
fz = fz[ibz]
f0 = np.mean(fz)
if np.min(np.abs(fz)) < 3*np.min(np.abs(fz - f0)):
f0 = 0
L0c = ss2zpk(Ac, Bc1, Cc, Dc1)
G0 = evalTFP(L0c, ntf, f0)
if f0 == 0:
Bc[:, 0] = np.dot(Bc[:, 0],
np.abs(np.dot(Bc[0, 1:],
(tdac2[1:, 1] - tdac2[1:, 0]))
/Bc[0, 0]))
else:
Bc[:, 0] = Bc[:, 0]/np.abs(G0)
ABCDc = np.vstack((
np.hstack((Ac, Bc)),
np.hstack((Cc, Dc))
))
#ABCDc = np.dot(ABCDc, np.abs(ABCDc) > eps**(1./2.))
ABCDc[np.nonzero(np.abs(ABCDc) < eps**(1./2))] = 0.
return ABCDc, tdac2
def calculateTF(ABCD, k=1.):
"""Calculate the NTF and STF of a delta-sigma modulator.
The calculation is performed for a given loop filter
ABCD matrix, assuming a quantizer gain of ``k``.
**Parameters:**
ABCD : array_like,
The ABCD matrix that describes the system.
k : float or ndarray-like, optional
The quantizer gains. If only one quantizer is present, it may be set
to a float, corresponding to the quantizer gain. If multiple quantizers
are present, a list should be used, with quantizer gains ordered
according to the order in which the quantizer inputs appear in the
``C`` and ``D`` submatrices. If not specified, a default of one quantizer
with gain ``1.`` is assumed.
**Returns:**
(NTF, STF) : a tuple of two LTI objects (or of two lists of LTI objects).
If a version of the ``scipy`` library equal to 0.16.x or
greater is in use, the objects will be ``ZeroPolesGain``
objects, a subclass of ``scipy.signal.lti``.
If the system has multiple quantizers, multiple STFs and NTFs will be
returned.
In that case:
* ``STF[i]`` is the STF from ``u`` to output number ``i``.
* ``NTF[i, j]`` is the NTF from the quantization noise of the quantizer
number ``j`` to output number ``i``.
**Note:**
Setting ``k`` to a list is unsupported in the MATLAB code (last checked
Nov. 2014).
**Example:**
Realize a fifth-order modulator with the cascade-of-resonators structure,
feedback form. Calculate the ABCD matrix of the loop filter and verify
that the NTF and STF are correct.
.. code-block:: python
from deltasigma import *
H = synthesizeNTF(5, 32, 1)
a, g, b, c = realizeNTF(H)
ABCD = stuffABCD(a,g,b,c)
ntf, stf = calculateTF(ABCD)
From which we get:
``H``::
(z -1) (z^2 -1.997z +1) (z^2 -1.992z +0.9999)
--------------------------------------------------------
(z -0.7778) (z^2 -1.796z +0.8549) (z^2 -1.613z +0.665)
coefficients::
a: 0.0007, 0.0084, 0.055, 0.2443, 0.5579
g: 0.0028, 0.0079
b: 0.0007, 0.0084, 0.055, 0.2443, 0.5579, 1.0
c: 1.0, 1.0, 1.0, 1.0, 1.0
ABCD matrix::
[[ 1.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00
0.00000000e+00 6.75559806e-04 -6.75559806e-04]
[ 1.00000000e+00 1.00000000e+00 -2.79396240e-03 0.00000000e+00
0.00000000e+00 8.37752565e-03 -8.37752565e-03]
[ 1.00000000e+00 1.00000000e+00 9.97206038e-01 0.00000000e+00
0.00000000e+00 6.33294166e-02 -6.33294166e-02]
[ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00000000e+00
-7.90937431e-03 2.44344030e-01 -2.44344030e-01]
[ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00000000e+00
9.92090626e-01 8.02273699e-01 -8.02273699e-01]
[ 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00
1.00000000e+00 1.00000000e+00 0.00000000e+00]]
NTF::
(z -1) (z^2 -1.997z +1) (z^2 -1.992z +0.9999)
--------------------------------------------------------
(z -0.7778) (z^2 -1.796z +0.8549) (z^2 -1.613z +0.665)
STF::
1
"""
nq = len(k) if type(k) in (tuple, list) else 1
A, B, C, D = partitionABCD(ABCD, m=nq+1, r=nq)
k = carray(k)
diagk = np.atleast_2d(np.diag(k))
B1 = B[:, 0]
B2 = B[:, 1:]
B1 = B1.reshape((B1.shape[0], 1)) if len(B1.shape) == 1 else B1
B2 = B2.reshape((B2.shape[0], 1)) if len(B2.shape) == 1 else B2
# In a single-quantizer system, D2 should be all zeros, as any
# non-zero term in D2 would imply we got a delay-free loop.
# The original MATLAB code implies so.
# The trouble arises when we adapt and extend the code to calculate
# the transfer functions for multiple-quantizer systems. There the
# off-diagonal terms of D2 may very well be non-zero, therefore
# in the following we consider D2.
# this means that if you supply an ABCD matrix, with one quantizer
# and an (erroneously) zero-delay loop, the MATLAB toolbox will
# disregard D2 and pretend it's zero and the loop is correctly
# delayed, spitting out the corresponding TF.
# Instead here we print out a warning and process the ABCD matrix
# with the user-supplied, non-zero D2 matrix.
# The resulting TFs will obviously be different.
D1 = D[:, 0]
D2 = D[:, 1:]
D1 = D1.reshape((D1.shape[0], 1)) if len(D1.shape) == 1 else D1
D2 = D2.reshape((D2.shape[0], 1)) if len(D2.shape) == 1 else D2
# WARN DELAY FREE LOOPS
if np.diag(D2).any():
warn("Delay free loop detected! D2 diag: %s", str(np.diag(D2)))
# Find the noise transfer function by forming the closed-loop
# system (sys_cl) in state-space form.
Ct = np.linalg.inv(np.eye(nq) - D2*diagk)
Acl = A + np.dot(B2, np.dot(Ct, np.dot(diagk, C)))
Bcl = np.hstack((B1 + np.dot(B2, np.dot(Ct, np.dot(diagk, D1))),
np.dot(B2, Ct)))
Ccl = np.dot(Ct, np.dot(diagk, C))
Dcl = np.dot(Ct, np.hstack((np.dot(diagk, D1), np.eye(nq))))
tol = min(1e-3, max(1e-6, eps**(1/ABCD.shape[0])))
ntfs = np.empty((nq, Dcl.shape[0]), dtype=np.object_)
stfs = np.empty((Dcl.shape[0],), dtype=np.object_)
# sweep the outputs 'cause scipy is silly but we love it anyhow.
for i in range(Dcl.shape[0]):
# input #0 is the signal
# inputs #1,... are quantization noise
stf_z, stf_p, stf_k = ss2zpk(Acl, Bcl, Ccl[i, :], Dcl[i, :], input=0)
stf = lti(stf_z, stf_p, stf_k)
for j in range(nq):
ntf_z, ntf_p, ntf_k = ss2zpk(Acl, Bcl, Ccl[i, :], Dcl[i, :], input=j+1)
ntf = lti(ntf_z, ntf_p, ntf_k)
stf_min, ntf_min = minreal((stf, ntf), tol)
ntfs[i, j] = ntf_min
stfs[i] = stf_min
# if we have one stf and one ntf, then just return those in a list
if ntfs.shape == (1, 1):
return [ntfs[0, 0], stfs[0]]
return ntfs, stfs
def calculateTF(ABCD, k=1.):
"""Calculate the NTF and STF of a delta-sigma modulator.
The calculation is performed for a given loop filter
ABCD matrix, assuming a quantizer gain of ``k``.
**Parameters:**
ABCD : array_like,
The ABCD matrix that describes the system.
k : float, optional
The quantizer gain. If not specified, a default value of 1 is used.
**Returns:**
(NTF, STF) : a tuple of two LTI objects.
**Example:**
Realize a fifth-order modulator with the cascade-of-resonators structure,
feedback form. Calculate the ABCD matrix of the loop filter and verify
that the NTF and STF are correct.
.. code-block:: python
from deltasigma import *
H = synthesizeNTF(5, 32, 1)
a, g, b, c = realizeNTF(H)
ABCD = stuffABCD(a,g,b,c)
ntf, stf = calculateTF(ABCD)
From which we get:
``H``::
(z -1) (z^2 -1.997z +1) (z^2 -1.992z +0.9999)
--------------------------------------------------------
(z -0.7778) (z^2 -1.796z +0.8549) (z^2 -1.613z +0.665)
coefficients::
a: 0.0007, 0.0084, 0.055, 0.2443, 0.5579
g: 0.0028, 0.0079
b: 0.0007, 0.0084, 0.055, 0.2443, 0.5579, 1.0
c: 1.0, 1.0, 1.0, 1.0, 1.0
ABCD matrix::
[[ 1.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00
0.00000000e+00 6.75559806e-04 -6.75559806e-04]
[ 1.00000000e+00 1.00000000e+00 -2.79396240e-03 0.00000000e+00
0.00000000e+00 8.37752565e-03 -8.37752565e-03]
[ 1.00000000e+00 1.00000000e+00 9.97206038e-01 0.00000000e+00
0.00000000e+00 6.33294166e-02 -6.33294166e-02]
[ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00000000e+00
-7.90937431e-03 2.44344030e-01 -2.44344030e-01]
[ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00000000e+00
9.92090626e-01 8.02273699e-01 -8.02273699e-01]
[ 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00
1.00000000e+00 1.00000000e+00 0.00000000e+00]]
NTF::
(z -1) (z^2 -1.997z +1) (z^2 -1.992z +0.9999)
--------------------------------------------------------
(z -0.7778) (z^2 -1.796z +0.8549) (z^2 -1.613z +0.665)
STF::
1
"""
A, B, C, D = partitionABCD(ABCD)
if B.shape[1] > 1:
B1 = B[:, 0]
B2 = B[:, 1]
B1 = B1.reshape((B1.shape[0], 1)) if len(B1.shape) == 1 else B1
B2 = B2.reshape((B2.shape[0], 1)) if len(B2.shape) == 1 else B2
else:
B1 = B
B2 = B
# Find the noise transfer function by forming the closed-loop
# system (sys_cl) in state-space form.
Acl = A + k * np.dot(B2, C)
Bcl = np.hstack((B1 + k * B2 * D[0, 0], B2))
Ccl = k * C
Dcl = np.array((k * D[0, 0], 1.))
Dcl = Dcl.reshape((1, Dcl.shape[0])) if len(Dcl.shape) == 1 else Dcl
tol = min(1e-3, max(1e-6, eps**(1 / ABCD.shape[0])))
# input #0 is the signal
# input #1 is the quantization noise
stf_p, stf_z, stf_k = ss2zpk(Acl, Bcl, Ccl, Dcl, input=0)
ntf_p, ntf_z, ntf_k = ss2zpk(Acl, Bcl, Ccl, Dcl, input=1)
stf = lti(stf_p, stf_z, stf_k)
ntf = lti(ntf_p, ntf_z, ntf_k)
stf_min, ntf_min = minreal((stf, ntf), tol)
return ntf_min, stf_min
_sys2ss = {
_LSYS: lambda sys: sys.ss,
_LFILT: lambda sys: tf2ss(sys.num, sys.den),
_NUM: lambda sys: tf2ss(sys, 1),
_TF: lambda sys: tf2ss(*sys),
_ZPK: lambda sys: zpk2ss(*sys),
_SS: lambda sys: sys,
}
_sys2zpk = {
_LSYS: lambda sys: sys.zpk,
_LFILT: lambda sys: tf2zpk(sys.num, sys.den),
_NUM: lambda sys: tf2zpk(sys, 1),
_TF: lambda sys: tf2zpk(*sys),
_ZPK: lambda sys: sys,
_SS: lambda sys: ss2zpk(*sys),
}
_sys2tf = {
_LSYS: lambda sys: sys.tf,
_LFILT: lambda sys: _tf(sys.num, sys.den),
_NUM: lambda sys: _tf(sys, 1),
_TF: lambda sys: _tf(*sys),
_ZPK: lambda sys: _tf(*zpk2tf(*sys)),
_SS: lambda sys: _tf(*_ss2tf(*sys)),
}
def sys2ss(sys):
"""Converts an LTI system in any form to state-space."""
return _sys2ss[_sys2form(sys)](sys)
