Improve the class names (#134)

* Minor corrections in docstrings * Minor correction in docstring * Improve the naming of classes
Aalto-Electric-Drives · Jun 11, 2024 · e23c315 · e23c315
1 parent 557835a
commit e23c315
Show file tree

Hide file tree

Showing 38 changed files with 130 additions and 124 deletions.
diff --git a/docs/source/conf.py b/docs/source/conf.py
@@ -25,7 +25,7 @@
 author = "Aalto Electric Drives"
 
 # The full version, including alpha/beta/rc tags
-release = "0.3.0"
+release = "0.3.1"
 
 # -- General configuration ---------------------------------------------------
 

diff --git a/docs/source/control/current_ctrl.rst b/docs/source/control/current_ctrl.rst
@@ -159,7 +159,7 @@ where :math:`\mathrm{sat}(\cdot)` is the saturation function. The limited voltag
 .. math::
 	\frac{\mathrm{d} \boldsymbol{u}_\mathrm{i}}{\mathrm{d} t} = \boldsymbol{\alpha}_\mathrm{i}\left(\bar{\boldsymbol{u}}_\mathrm{s,ref} - \hat{\boldsymbol{v}}_\mathrm{s}\right) 
 
-The other parts of the above controller are not affected by the saturation. The implementation in the :class:`motulator.common.control.ComplexPICtrl` class is based on this disturbance-observer form.
+The other parts of the above controller are not affected by the saturation. The implementation in the :class:`motulator.common.control.ComplexPIController` class is based on this disturbance-observer form.
 
 Synchronous Machines
 --------------------
@@ -184,7 +184,7 @@ The discrete-time variant of the disturbance-observer form :eq:`cc_disturbance`
     \boldsymbol{u}_\mathrm{s,ref}(k) &= \boldsymbol{k}_\mathrm{t}\left[\boldsymbol{\psi}_{\mathrm{ref}}(k) - \hat{\boldsymbol{\psi}}(k)\right] + \hat{\boldsymbol{v}}_\mathrm{s} \\
      \bar{\boldsymbol{u}}_\mathrm{s,ref}(k) &= \mathrm{sat}\left[\boldsymbol{u}_\mathrm{s,ref}(k)\right]
 
-where :math:`T_\mathrm{s}` is the sampling period and :math:`k` is the discrete-time index. Depending on the machine type, either :eq:`flux_mapping_im` or :eq:`flux_mapping_sm` is used to map the stator current to the flux linkage. This discrete-time algorithm corresponds to the implementation in the :class:`motulator.drive.control.sm.CurrentCtrl` class. The default gain selection corresponds to the complex-vector gains in :eq:`complex_vector_gains_flux`.
+where :math:`T_\mathrm{s}` is the sampling period and :math:`k` is the discrete-time index. Depending on the machine type, either :eq:`flux_mapping_im` or :eq:`flux_mapping_sm` is used to map the stator current to the flux linkage. This discrete-time algorithm corresponds to the implementation in the :class:`motulator.drive.control.sm.CurrentController` class. The default gain selection corresponds to the complex-vector gains in :eq:`complex_vector_gains_flux`.
 
 .. rubric:: References
 

diff --git a/docs/source/control/speed_ctrl.rst b/docs/source/control/speed_ctrl.rst
@@ -1,7 +1,7 @@
 Speed Control
 =============
 
-Proportional-integral (PI) control is widely used in machine drives. A standard one-degree-of-freedom (1DOF) PI controller manipulates only the control error, i.e., it has single input and single output. Its two-degrees-of-freedom (2DOF) variants have two inputs (reference signal and feedback signal), which allows to design disturbance rejection and reference tracking separately [#Sko1996]_. In the following, we will use a speed controller as an example, cf. the :class:`motulator.drive.control.SpeedCtrl` class. The presented control design can be extended to many other control tasks as well. 
+Proportional-integral (PI) control is widely used in machine drives. A standard one-degree-of-freedom (1DOF) PI controller manipulates only the control error, i.e., it has single input and single output. Its two-degrees-of-freedom (2DOF) variants have two inputs (reference signal and feedback signal), which allows to design disturbance rejection and reference tracking separately [#Sko1996]_. In the following, we will use a speed controller as an example, cf. the :class:`motulator.drive.control.SpeedController` class. The presented control design can be extended to many other control tasks as well. 
 
 Continuous-Time Design
 ----------------------
@@ -52,7 +52,7 @@ where :math:`\mathrm{sat}(\cdot)` is the saturation function. If this saturation
 .. math::
 	\frac{\mathrm{d} \tau_\mathrm{i}}{\mathrm{d} t} = \alpha_\mathrm{i}\left(\bar{\tau}_\mathrm{M,ref} - \hat \tau_\mathrm{L}\right) 
 
-The other parts of the above controller are not affected by the saturation. The implementation in the :class:`motulator.drive.control.SpeedCtrl` class is based on this disturbance-observer form.
+The other parts of the above controller are not affected by the saturation. The implementation in the :class:`motulator.drive.control.SpeedController` class is based on this disturbance-observer form.
 
 Gain Selection Example
 ^^^^^^^^^^^^^^^^^^^^^^
@@ -94,7 +94,7 @@ The discrete-time variant of the controller is given by
     \tau_\mathrm{M,ref}(k) &= k_\mathrm{t}\left[\omega_\mathrm{M,ref}(k) - \omega_\mathrm{M}(k)\right] + \hat \tau_\mathrm{L}(k) \\
     \bar{\tau}_\mathrm{M,ref}(k) &= \mathrm{sat}[\tau_\mathrm{M,ref}(k)]
 
-where :math:`T_\mathrm{s}` is the sampling period and :math:`k` is the discrete-time index. This corresponds to the implementation in the :class:`motulator.drive.control.SpeedCtrl` class. 
+where :math:`T_\mathrm{s}` is the sampling period and :math:`k` is the discrete-time index. This corresponds to the implementation in the :class:`motulator.drive.control.SpeedController` class. 
 
 .. rubric:: References
 

diff --git a/docs/source/usage.rst b/docs/source/usage.rst
@@ -21,7 +21,7 @@ After :doc:`installation`, *motulator* can be used by creating a continuous-time
    par = control.ModelPars(
       R_s=3.7, R_R=2.1, L_sgm=.021, L_M=.224, n_p=2, J=.015)
    cfg = control.CurrentReferenceCfg(par, max_i_s=1.5*np.sqrt(2)*5)
-   ctrl = control.VectorCtrl(par, cfg)
+   ctrl = control.VectorControl(par, cfg)
 
    # Acceleration at t = 0.2 s and load torque step of 14 Nm at t = 0.75 s 
    ctrl.ref.w_m = lambda t: (t > .2)*(2*np.pi*50)

diff --git a/examples/flux_vector/plot_flux_vector_pmsm_2kw.py b/examples/flux_vector/plot_flux_vector_pmsm_2kw.py
@@ -33,7 +33,7 @@
 
 par = mdl_par  # Assume accurate machine model parameter estimates
 cfg = control.FluxTorqueReferenceCfg(par, max_i_s=1.5*base.i, k_u=.9)
-ctrl = control.FluxVectorCtrl(par, cfg, J=.015, T_s=250e-6, sensorless=True)
+ctrl = control.FluxVectorControl(par, cfg, J=.015, T_s=250e-6, sensorless=True)
 
 # %%
 # Set the speed reference and the external load torque.

diff --git a/examples/flux_vector/plot_flux_vector_pmsyrm_5kw.py b/examples/flux_vector/plot_flux_vector_pmsyrm_5kw.py
@@ -163,7 +163,7 @@ def i_s(psi_s):
 # Limit the maximum reference flux to the base value
 cfg = control.FluxTorqueReferenceCfg(
     par, max_i_s=2*base.i, k_u=1, max_psi_s=base.psi)
-ctrl = control.FluxVectorCtrl(par, cfg, J=.015, sensorless=True)
+ctrl = control.FluxVectorControl(par, cfg, J=.015, sensorless=True)
 # Select a lower speed-estimation bandwidth to mitigate the saturation effects
 ctrl.observer = control.Observer(
     control.ObserverCfg(par, alpha_o=2*np.pi*40, sensorless=True))

diff --git a/examples/flux_vector/plot_flux_vector_syrm_7kw.py b/examples/flux_vector/plot_flux_vector_syrm_7kw.py
@@ -69,7 +69,7 @@ def i_s(psi_s):
 # Disable MTPA since the control system does not consider the saturation
 cfg = control.FluxTorqueReferenceCfg(
     par, max_i_s=2*base.i, k_u=.9, min_psi_s=base.psi, max_psi_s=base.psi)
-ctrl = control.FluxVectorCtrl(par, cfg, J=.015, sensorless=True)
+ctrl = control.FluxVectorControl(par, cfg, J=.015, sensorless=True)
 # Since the saturation is not considered in the control system, the speed
 # estimation bandwidth is set to a lower value. Furthermore, the PM-flux
 # disturbance estimation is enabled at speeds above 2*pi*20 rad/s (electrical).

diff --git a/examples/obs_vhz/plot_obs_vhz_ctrl_im_2kw.py b/examples/obs_vhz/plot_obs_vhz_ctrl_im_2kw.py
@@ -39,9 +39,9 @@
 
 # Inverse-Γ model parameter estimates
 par = mdl_ig_par  # Assume accurate machine model parameter estimates
-cfg = control.ObserverBasedVHzCtrlCfg(
+cfg = control.ObserverBasedVHzControlCfg(
     nom_psi_s=base.psi, max_i_s=1.5*base.i, slip_compensation=False)
-ctrl = control.ObserverBasedVHzCtrl(par, cfg, T_s=250e-6)
+ctrl = control.ObserverBasedVHzControl(par, cfg, T_s=250e-6)
 
 # %%
 # Set the speed reference.

diff --git a/examples/obs_vhz/plot_obs_vhz_ctrl_pmsm_2kw.py b/examples/obs_vhz/plot_obs_vhz_ctrl_pmsm_2kw.py
@@ -34,8 +34,8 @@
 # Configure the control system.
 
 par = mdl_par  # Assume accurate machine model parameter estimates
-cfg = control.ObserverBasedVHzCtrlCfg(par, max_i_s=1.5*base.i)
-ctrl = control.ObserverBasedVHzCtrl(par, cfg, T_s=250e-6)
+cfg = control.ObserverBasedVHzControlCfg(par, max_i_s=1.5*base.i)
+ctrl = control.ObserverBasedVHzControl(par, cfg, T_s=250e-6)
 #ctrl.rate_limiter = control.RateLimiter(2*np.pi*120)
 
 # %%

diff --git a/examples/obs_vhz/plot_obs_vhz_ctrl_pmsm_2kw_two_mass.py b/examples/obs_vhz/plot_obs_vhz_ctrl_pmsm_2kw_two_mass.py
@@ -41,8 +41,8 @@
 # Configure the control system.
 
 par = mdl_par  # Assume accurate machine model parameter estimates
-cfg = control.ObserverBasedVHzCtrlCfg(par, max_i_s=1.5*base.i)
-ctrl = control.ObserverBasedVHzCtrl(par, cfg, T_s=250e-6)
+cfg = control.ObserverBasedVHzControlCfg(par, max_i_s=1.5*base.i)
+ctrl = control.ObserverBasedVHzControl(par, cfg, T_s=250e-6)
 #ctrl.rate_limiter = control.RateLimiter(2*np.pi*120)
 
 # %%

diff --git a/examples/obs_vhz/plot_obs_vhz_ctrl_pmsyrm_thor.py b/examples/obs_vhz/plot_obs_vhz_ctrl_pmsyrm_thor.py
@@ -105,8 +105,8 @@ def i_s(psi_s):
 # Configure the control system.
 
 par = SynchronousMachinePars(n_p=2, R_s=.2, L_d=4e-3, L_q=17e-3, psi_f=.134)
-cfg = control.ObserverBasedVHzCtrlCfg(par, max_i_s=2*base.i)
-ctrl = control.ObserverBasedVHzCtrl(par, cfg, T_s=250e-6)
+cfg = control.ObserverBasedVHzControlCfg(par, max_i_s=2*base.i)
+ctrl = control.ObserverBasedVHzControl(par, cfg, T_s=250e-6)
 
 # %%
 # Set the speed reference and the external load torque.

diff --git a/examples/obs_vhz/plot_obs_vhz_ctrl_syrm_7kw.py b/examples/obs_vhz/plot_obs_vhz_ctrl_syrm_7kw.py
@@ -90,9 +90,9 @@ def i_s(psi_s):
 # Configure the control system.
 
 par = SynchronousMachinePars(n_p=2, R_s=.54, L_d=37e-3, L_q=6.2e-3, psi_f=0)
-cfg = control.ObserverBasedVHzCtrlCfg(
+cfg = control.ObserverBasedVHzControlCfg(
     par, max_i_s=2*base.i, min_psi_s=base.psi, max_psi_s=base.psi)
-ctrl = control.ObserverBasedVHzCtrl(par, cfg)
+ctrl = control.ObserverBasedVHzControl(par, cfg)
 
 # %%
 # Set the speed reference and the external load torque.

diff --git a/examples/signal_inj/plot_signal_inj_pmsm_2kw.py b/examples/signal_inj/plot_signal_inj_pmsm_2kw.py
@@ -37,8 +37,8 @@
 
 par = mdl_par  # Assume accurate machine model parameter estimates
 cfg = control.CurrentReferenceCfg(par, nom_w_m=base.w, max_i_s=2*base.i)
-ctrl = control.SignalInjectionCtrl(par, cfg, J=.015, T_s=250e-6)
-# ctrl.current_ctrl = control.sm.CurrentCtrl(par, 2*np.pi*100)
+ctrl = control.SignalInjectionControl(par, cfg, J=.015, T_s=250e-6)
+# ctrl.current_ctrl = control.sm.CurrentControl(par, 2*np.pi*100)
 
 # %%
 # Set the speed reference and the external load torque.

diff --git a/examples/signal_inj/plot_signal_inj_syrm_7kw.py b/examples/signal_inj/plot_signal_inj_syrm_7kw.py
@@ -38,8 +38,8 @@
 par = mdl_par  # Assume accurate machine model parameter estimates
 cfg = control.CurrentReferenceCfg(
     par, nom_w_m=base.w, max_i_s=2*base.i, min_psi_s=.5*base.psi)
-ctrl = control.SignalInjectionCtrl(par, cfg, J=.015, T_s=250e-6)
-# ctrl.current_ctrl = control.sm.CurrentCtrl(par, 2*np.pi*100)
+ctrl = control.SignalInjectionControl(par, cfg, J=.015, T_s=250e-6)
+# ctrl.current_ctrl = control.sm.CurrentControl(par, 2*np.pi*100)
 # ctrl.signal_inj = control.sm.SignalInjection(par, U_inj=200)
 
 # %%

diff --git a/examples/vector/plot_vector_ctrl_im_2kw.py b/examples/vector/plot_vector_ctrl_im_2kw.py
@@ -57,11 +57,12 @@ def L_s(psi, L_su=.34, beta=.84, S=7):
 cfg = control.CurrentReferenceCfg(
     par, max_i_s=1.5*base.i, nom_u_s=base.u, nom_w_s=base.w)
 # Create the control system
-ctrl = control.CurrentVectorCtrl(par, cfg, J=.015, T_s=250e-6, sensorless=True)
+ctrl = control.CurrentVectorControl(
+    par, cfg, J=.015, T_s=250e-6, sensorless=True)
 # As an example, you may replace the default 2DOF PI speed controller with the
 # regular PI speed controller by uncommenting the following line
-# from motulator.common.control import PICtrl
-# ctrl.speed_ctrl = PICtrl(k_p=1, k_i=1)
+# from motulator.common.control import PIController
+# ctrl.speed_ctrl = PIController(k_p=1, k_i=1)
 
 # %%
 # Set the speed reference and the external load torque. You may also try to

diff --git a/examples/vector/plot_vector_ctrl_im_2kw_tq_mode.py b/examples/vector/plot_vector_ctrl_im_2kw_tq_mode.py
@@ -44,7 +44,7 @@
 cfg = control.CurrentReferenceCfg(
     par, max_i_s=1.5*base.i, nom_u_s=base.u, nom_w_s=base.w)
 # Create the control system
-ctrl = control.CurrentVectorCtrl(par, cfg, T_s=250e-6, sensorless=True)
+ctrl = control.CurrentVectorControl(par, cfg, T_s=250e-6, sensorless=True)
 
 # %%
 # Set the torque reference and the actual speed.

diff --git a/examples/vector/plot_vector_ctrl_pmsm_2kw.py b/examples/vector/plot_vector_ctrl_pmsm_2kw.py
@@ -36,7 +36,8 @@
 
 par = mdl_par  # Assume accurate machine model parameter estimates
 cfg = control.CurrentReferenceCfg(par, nom_w_m=base.w, max_i_s=1.5*base.i)
-ctrl = control.CurrentVectorCtrl(par, cfg, J=.015, T_s=250e-6, sensorless=True)
+ctrl = control.CurrentVectorControl(
+    par, cfg, J=.015, T_s=250e-6, sensorless=True)
 
 # %%
 # Set the speed reference and the external load torque.

diff --git a/examples/vector/plot_vector_ctrl_pmsm_2kw_diode.py b/examples/vector/plot_vector_ctrl_pmsm_2kw_diode.py
@@ -35,7 +35,8 @@
 
 par = mdl_par  # Assume accurate machine model parameter estimates
 ref = control.CurrentReferenceCfg(par, nom_w_m=base.w, max_i_s=1.5*base.i)
-ctrl = control.CurrentVectorCtrl(par, ref, J=.015, T_s=250e-6, sensorless=True)
+ctrl = control.CurrentVectorControl(
+    par, ref, J=.015, T_s=250e-6, sensorless=True)
 
 # %%
 # Set the speed reference and the external load torque.

diff --git a/examples/vector/plot_vector_ctrl_pmsyrm_thor.py b/examples/vector/plot_vector_ctrl_pmsyrm_thor.py
@@ -40,11 +40,11 @@
 par = mdl_par  # Assume accurate machine model parameter estimates
 cfg = control.CurrentReferenceCfg(
     par, nom_w_m=base.w, max_i_s=2*base.i, k_u=.9)
-ctrl = control.CurrentVectorCtrl(
+ctrl = control.CurrentVectorControl(
     par, cfg, T_s=125e-6, J=.0042, sensorless=True)
 ctrl.observer = control.Observer(
     control.ObserverCfg(par, sensorless=True, alpha_o=2*np.pi*200))
-ctrl.speed_ctrl = control.SpeedCtrl(
+ctrl.speed_ctrl = control.SpeedController(
     J=.0042, alpha_s=2*np.pi*4, max_tau_M=1.5*nom.tau)
 
 # %%

diff --git a/examples/vector/plot_vector_ctrl_syrm_7kw.py b/examples/vector/plot_vector_ctrl_syrm_7kw.py
@@ -37,7 +37,8 @@
 par = mdl_par  # Assume accurate machine model parameter estimates
 cfg = control.CurrentReferenceCfg(
     par, nom_w_m=base.w, max_i_s=1.5*base.i, min_psi_s=.5*base.psi, k_u=.9)
-ctrl = control.CurrentVectorCtrl(par, cfg, J=.015, T_s=125e-6, sensorless=True)
+ctrl = control.CurrentVectorControl(
+    par, cfg, J=.015, T_s=125e-6, sensorless=True)
 
 # %%
 # Set the speed reference and the external load torque.

diff --git a/examples/vhz/plot_vhz_ctrl_6step_im_2kw.py b/examples/vhz/plot_vhz_ctrl_6step_im_2kw.py
@@ -44,8 +44,9 @@
 # Control system (parametrized as open-loop V/Hz control).
 
 par = InductionMachineInvGammaPars(R_s=0*3.7, R_R=0*2.1, L_sgm=.021, L_M=.224)
-ctrl = control.VHzCtrl(
-    control.VHzCtrlCfg(par, nom_psi_s=base.psi, k_u=0, k_w=0, six_step=True))
+ctrl = control.VHzControl(
+    control.VHzControlCfg(
+        par, nom_psi_s=base.psi, k_u=0, k_w=0, six_step=True))
 
 # %%
 # Set the speed reference and the external load torque.

diff --git a/examples/vhz/plot_vhz_ctrl_im_2kw.py b/examples/vhz/plot_vhz_ctrl_im_2kw.py
@@ -43,8 +43,8 @@
 
 # Inverse-Γ model parameter estimates
 par = InductionMachineInvGammaPars(R_s=0*3.7, R_R=0*2.1, L_sgm=.021, L_M=.224)
-ctrl = control.VHzCtrl(
-    control.VHzCtrlCfg(par, nom_psi_s=base.psi, k_u=0, k_w=0))
+ctrl = control.VHzControl(
+    control.VHzControlCfg(par, nom_psi_s=base.psi, k_u=0, k_w=0))
 
 # %%
 # Set the speed reference and the external load torque.

diff --git a/examples/vhz/plot_vhz_ctrl_im_2kw_lc.py b/examples/vhz/plot_vhz_ctrl_im_2kw_lc.py
@@ -43,8 +43,8 @@
 
 # Inverse-Γ model parameter estimates
 par = InductionMachineInvGammaPars(R_s=0*3.7, R_R=0*2.1, L_sgm=.021, L_M=.224)
-ctrl = control.VHzCtrl(
-    control.VHzCtrlCfg(par, nom_psi_s=base.psi, k_u=0, k_w=0))
+ctrl = control.VHzControl(
+    control.VHzControlCfg(par, nom_psi_s=base.psi, k_u=0, k_w=0))
 
 # %%
 # Set the speed reference. The external load torque is zero (by default).
@@ -75,7 +75,7 @@
     mdl.converter.data.u_cs.real/base.u,
     label=r"$u_\mathrm{ca}$")
 ax1.plot(
-    mdl.converter.data.t,
+    mdl.machine.data.t,
     mdl.machine.data.u_ss.real/base.u,
     label=r"$u_\mathrm{sa}$")
 ax1.set_xlim(t_span)
@@ -88,7 +88,7 @@
     mdl.converter.data.i_cs.real/base.i,
     label=r"$i_\mathrm{ca}$")
 ax2.plot(
-    mdl.converter.data.t,
+    mdl.machine.data.t,
     mdl.machine.data.i_ss.real/base.i,
     label=r"$i_\mathrm{sa}$")
 ax2.set_xlim(t_span)

diff --git a/motulator/common/control/__init__.py b/motulator/common/control/__init__.py
@@ -1,11 +1,11 @@
 """Common control functions and classes."""
 from motulator.common.control._control import (
-    Ctrl, ComplexPICtrl, PICtrl, PWM, RateLimiter)
+    ControlSystem, ComplexPIController, PIController, PWM, RateLimiter)
 
 __all__ = [
-    "Ctrl",
-    "ComplexPICtrl",
-    "PICtrl",
+    "ControlSystem",
+    "ComplexPIController",
+    "PIController",
     "PWM",
     "RateLimiter",
 ]
diff --git a/motulator/common/control/_control.py b/motulator/common/control/_control.py
@@ -206,7 +206,7 @@ def __call__(self, T_s, ref_u_cs, u_dc, w):
 
 
 # %%
-class PICtrl:
+class PIController:
     """
     2DOF PI controller.
 
@@ -292,7 +292,7 @@ def update(self, T_s, u):
 
 
 # %%
-class ComplexPICtrl:
+class ComplexPIController:
     """
     2DOF synchronous-frame complex-vector PI controller.
 
@@ -456,7 +456,7 @@ def update(self, T_s):
 
 
 # %%
-class Ctrl(ABC):
+class ControlSystem(ABC):
     """
     Base class for control systems.
     

diff --git a/motulator/common/model/_simulation.py b/motulator/common/model/_simulation.py
@@ -193,7 +193,7 @@ class Simulation:
     ----------
     mdl : Model 
         Continuous-time system model.
-    ctrl : Ctrl
+    ctrl : ControlSystem
         Discrete-time controller.
 
     """

diff --git a/motulator/drive/control/__init__.py b/motulator/drive/control/__init__.py
@@ -1,4 +1,4 @@
 """Controllers for machine drives."""
-from motulator.drive.control._common import DriveCtrl, SpeedCtrl
+from motulator.drive.control._common import DriveControlSystem, SpeedController
 
-__all__ = ["DriveCtrl", "SpeedCtrl"]
+__all__ = ["DriveControlSystem", "SpeedController"]
diff --git a/motulator/drive/control/_common.py b/motulator/drive/control/_common.py
@@ -5,12 +5,12 @@
 
 import numpy as np
 
-from motulator.common.control import Ctrl, PICtrl
+from motulator.common.control import ControlSystem, PIController
 from motulator.common.utils import abc2complex, wrap
 
 
 # %%
-class SpeedCtrl(PICtrl):
+class SpeedController(PIController):
     """
     2DOF PI speed controller.
 
@@ -36,9 +36,9 @@ def __init__(self, J, alpha_s, max_tau_M=np.inf):
 
 
 # %%
-class DriveCtrl(Ctrl, ABC):
+class DriveControlSystem(ControlSystem, ABC):
     """
-    Base class for control of electric machine drives.
+    Base class for drive control systems.
 
     This base class provides typical functionalities for control of electric
     machine drives. This can be used both in speed-control and torque-control 
@@ -72,7 +72,7 @@ class DriveCtrl(Ctrl, ABC):
         `motulator.drive.control.im.Observer` or 
         `motulator.drive.control.sm.Observer` 
         depending on the machine type. The default is None.
-    speed_ctrl : SpeedCtrl | None
+    speed_ctrl : SpeedController | None
         Speed controller. The default is None.
 
     """