Removed redundant parentheses

Chapter_05.py

@@ -376,7 +376,7 @@ def rule6(G, Gm, message=False):
     else: valid6 = False
 
     if message:
-        if (wz != 0):
+        if wz != 0:
             print 'These are the roots of the transfer function matrix GGm' , zeros
         if valid6:    
             print 'The critical frequency of S for the system to be controllable is' , wz

Chapter_06.py

@@ -98,7 +98,7 @@ def Min_Peaks(Zeros_G, Poles_G, error_poles_direction, io_type, usedeadtime=Fals
     p_direction = np.matrix(np.zeros([G(0.001).shape[0], len(Poles_G)]))    
 
     # error_poles_direction is to to prevent the numerical method from breaking    
-    if (io_type == 'input'):
+    if io_type == 'input':
 
         for i in range(len(Zeros_G)):
             [U, S, V] = np.linalg.svd(G(Zeros_G[i]+error_poles_direction))
@@ -107,7 +107,7 @@ def Min_Peaks(Zeros_G, Poles_G, error_poles_direction, io_type, usedeadtime=Fals
             [U, S, V] = np.linalg.svd(G(Poles_G[i] + error_poles_direction))
             p_direction[:, i] = U[:, 0]  
 
-    elif (io_type == 'output'):
+    elif io_type == 'output':
 
         for i in range(len(Zeros_G)):
             [U, S, V] = np.linalg.svd(G(Zeros_G[i]+error_poles_direction))

Exercise_06_08.py

@@ -25,15 +25,15 @@ def g11(s):
 
 
 def g12(s):
-    return (1/(s**2 + 100))
+    return 1/(s**2 + 100)
 
 
 def g21(s):
     return (1/(s**2 + 100)) * ((s + 0.1)/(s + 1))
 
 
 def g22(s):
-    return (1/(s**2 + 100))
+    return 1/(s**2 + 100)
 
 
 def lambda11(s):

Figure_05_08.py

@@ -6,6 +6,6 @@
 #Figure 5.8
 G = (-s + 1)/(s + 1)
 Kc = [0.1, 0.5, 0.9]
-K = -1*(s)/((1 + 0.02*s)*(1 + 0.05*s))
+K = -1*s/((1 + 0.02*s)*(1 + 0.05*s))
 
 utilsplot.freq_step_response_plot(G, K, Kc, 0.2, 1000, 'S', 'Figure 5.8')

Figure_05_09.py

@@ -13,7 +13,7 @@
 G = (1 - s)/(s + 1)
 
 for kc in [0.1, 0.5, 0.9]:
-    k1 = -1*kc*(s)/((1 + 0.02*s)*(1 + 0.05*s))
+    k1 = -1*kc*s/((1 + 0.02*s)*(1 + 0.05*s))
     L = G*k1
     S = 1/(1 + L)
     plt.loglog(w, abs(S))

Figure_05_18.py

@@ -75,11 +75,11 @@
 plt.annotate('', (m2x, m2gd), (m2x, m2l), arrowprops=dict(arrowstyle='<->', shrinkA=0, shrinkB=0))
 plt.annotate('$M_2$', (m2x + 25, abs(m2gd - m2l) / 1.5))
 
-if (wp != 0):
+if wp != 0:
     plt.annotate('', (wp, 10**-2.5), (wc, 10**-2.5), arrowprops=dict(arrowstyle='<->', shrinkA=0, shrinkB=0))
     plt.annotate('$M_3$', (abs(wc - wp) / 1.5, 10**-2.3))
 
-if (wz != 0):
+if wz != 0:
     plt.annotate('', (wc, 10**-3.5), (wz, 10**-3.5), arrowprops=dict(arrowstyle='<->', shrinkA=0, shrinkB=0))
     plt.annotate('$M_4$', (abs(wc - wz) / 3, 10**-3.3))
 
@@ -89,7 +89,7 @@
 plt.annotate('', (0.001, 10**-2.5), (wd, 10**-2.5), arrowprops=dict(arrowstyle='<-', shrinkA=0, shrinkB=0))
 plt.annotate('Control needed to reject disturbances', (0.0015, 10**-2.3))
 
-if (wtd != 0):
+if wtd != 0:
     plt.annotate('', (wc, 10**-5.5), (wtd, 10**-5.5), arrowprops=dict(arrowstyle='<->', shrinkA=0, shrinkB=0))
     plt.annotate('$M_6$', (abs(wc - wtd) / 8, 10**-5.3))
 

Figure_08_16.py

@@ -13,7 +13,7 @@
 s = 1j*w
 
 Wi = (s + 0.2)/(0.5 * s + 1)
-Wp = (s/2 + 0.05)/(s)
+Wp = (s/2 + 0.05)/s
 
 plt.figure(1)
 plt.title('Weight Values over Frequency')

MIMOnyquist.py

@@ -21,11 +21,11 @@
 
 
 def G(s):
-    return(K*np.exp(-t1*s)/(t2*s + 1))
+    return K*np.exp(-t1*s)/(t2*s + 1)
 
 
 def L(s):
-    return(Kc*G(s))
+    return Kc*G(s)
 
 mino_nyquist_plot(L, 2, -3, 3)
 plt.show()

Nyquist_PM_GM.py

@@ -35,8 +35,8 @@ def mod(w):
     # plotting a unit circle
     x = np.linspace(-1, 1, 200)
 
-    y_upper = np.sqrt(1-(x)**2)
-    y_down = -1*np.sqrt(1-(x)**2)
+    y_upper = np.sqrt(1- x**2)
+    y_down = -1*np.sqrt(1- x**2)
     plt.plot(x, y_upper, 'r-', x, y_down, 'r-')
 
     plt.show()

SVD_w.py

@@ -9,7 +9,7 @@ def G(w):
     s = w*1j
 
     # the matrix transfer function
-    G = [[1/(s+1), 1/(10*s+1)**2, 1], [0.4/((s)*(s+3)), -0.1/(s**2+1), 1], [1/(s+1), 10/(s+11), 1/(s+0.001)]]
+    G = [[1/(s+1), 1/(10*s+1)**2, 1], [0.4/(s*(s+3)), -0.1/(s**2+1), 1], [1/(s+1), 10/(s+11), 1/(s+0.001)]]
     return G
 
 

perturbed_models.py

@@ -72,7 +72,7 @@ def Gp(s, vec, i):
 def weight_i(s, a, b, c):
     """Function to give the weight of the uncertainty"""
 
-    w_i = (((s * a + start) / ((a / (end)) * s + 1))
+    w_i = (((s * a + start) / ((a /end) * s + 1))
            * ((s ** 2 + b * s + 1) / (s ** 2 + c * s + 1)))
 #    w_i = ((((s * a + start) / ((a / (end)) * s + 1))
 #            * ((s ** 2 + b * s + 1) / (s ** 2 + c * s + 1)))

robusttools.py

@@ -24,11 +24,11 @@ def UnstructuredDelta(M, DeltaStructure):
         unstructured delta matrix
     '''
 
-    if (DeltaStructure == "Full"):
+    if DeltaStructure == "Full":
         [U, s, V] = utils.SVD(M)
         S = np.diag(s)
         delta = 1/s[0] * V[:,0] * U[:,0].H  
-    elif (DeltaStructure == 'Diagonal'):
+    elif DeltaStructure == 'Diagonal':
 # TODO: complete
         delta = 'NA'
     else: delta = 0