address @murrayrm and preliminary @slivingston review comments

murrayrm · murrayrm · commit 996211cb6976 · 2025-01-07T16:49:36.000-08:00
diff --git a/control/config.py b/control/config.py
@@ -333,10 +333,6 @@ def use_legacy_defaults(version):
     #
     reset_defaults()            # start from a clean slate
 
-    # Verions 0.10.2
-    if major == 0 and minor <= 10 and patch < 2:
-        set_defaults('iosys', repr_format='eval')
-
     # Version 0.9.2:
     if major == 0 and minor < 9 or (minor == 9 and patch < 2):
         from math import inf
diff --git a/control/iosys.py b/control/iosys.py
@@ -267,6 +267,7 @@ def _repr_info_(self, html=False):
 
         if html:
             # Replace symbols that might be interpreted by HTML processing
+            # TODO: replace -> with right arrow (later)
             escape_chars = {
                 '$': r'\$',
                 '<': '&lt;',
@@ -820,7 +821,7 @@ def iosys_repr(sys, format=None):
 
     Notes
     -----
-    By default, the representation for an input/output is set to 'info'.
+    By default, the representation for an input/output is set to 'eval'.
     Set config.defaults['iosys.repr_format'] to change for all I/O systems
     or use the `repr_format` parameter for a single system.
 
diff --git a/control/nlsys.py b/control/nlsys.py
@@ -155,7 +155,7 @@ def __init__(self, updfcn, outfcn=None, params=None, **kwargs):
 
     def __str__(self):
         out = f"{InputOutputSystem.__str__(self)}"
-        if len(self.params) > 1:
+        if len(self.params) > 0:
             out += f"\nParameters: {[p for p in self.params.keys()]}"
         out += "\n\n" + \
             f"Update: {self.updfcn}\n" + \
diff --git a/control/tests/nlsys_test.py b/control/tests/nlsys_test.py
@@ -19,7 +19,7 @@
 # Basic test of nlsys()
 def test_nlsys_basic():
     def kincar_update(t, x, u, params):
-        l = params['l']             # wheelbase
+        l = params['l']              # wheelbase
         return np.array([
             np.cos(x[2]) * u[0],     # x velocity
             np.sin(x[2]) * u[0],     # y velocity
@@ -248,3 +248,20 @@ def test_ICsystem_str():
         r"D = \[\[.*\]\]"
 
     assert re.match(ref, str(sys), re.DOTALL)
+
+
+# Make sure nlsys str() works as expected
+@pytest.mark.parametrize("params, expected", [
+    ({}, r"States \(1\): \['x\[0\]'\]" + "\n\n"),
+    ({'a': 1}, r"States \(1\): \['x\[0\]'\]" + "\n" +
+     r"Parameters: \['a'\]" + "\n\n"),
+    ({'a': 1, 'b': 1}, r"States \(1\): \['x\[0\]'\]" + "\n" +
+     r"Parameters: \['a', 'b'\]" + "\n\n"),
+])
+def test_nlsys_params_str(params, expected):
+    sys = ct.nlsys(
+            lambda t, x, u, params: -x, inputs=1, outputs=1, states=1,
+            params=params)
+    out = str(sys)
+
+    assert re.search(expected, out) is not None
diff --git a/control/tests/statesp_test.py b/control/tests/statesp_test.py
@@ -1286,3 +1286,18 @@ def test_tf2ss_mimo():
     else:
         with pytest.raises(ct.ControlMIMONotImplemented):
             sys_ss = ct.ss(sys_tf)
+
+
+# Test LinearICSystem __call__
+def test_linearic_call():
+    import cmath
+
+    sys1 = ct.rss(2, 1, 1, strictly_proper=True, name='sys1')
+    sys2 = ct.rss(2, 1, 1, strictly_proper=True, name='sys2')
+
+    sys_ic = ct.interconnect(
+        [sys1, sys2], connections=['sys1.u', 'sys2.y'],
+        inplist='sys2.u', outlist='sys1.y')
+
+    for s in [0, 1, 1j]:
+        assert cmath.isclose(sys_ic(s), (sys1 * sys2)(s))
diff --git a/examples/repr_gallery.py b/examples/repr_gallery.py
@@ -5,7 +5,7 @@
 # of representations (__repr__, __str__) for those systems that can be
 # used to compare different versions of python-control.  It is mainly
 # intended for uses by developers to make sure there are no unexpected
-# changes in representation formats, but also has some interest
+# changes in representation formats, but also has some interesting
 # examples of different choices in system representation.
 
 import numpy as np
@@ -30,14 +30,14 @@
 sys_gtf = ct.tf([1], [1, 0])
 syslist += [sys_tf, sys_dtf, sys_gtf]
 
-# MIMO transfer function (continous time only)
+# MIMO transfer function (continuous time only)
 sys_mtf = ct.tf(
     [[sys_tf.num[0][0].tolist(), [0]], [[1, 0], [1, 0]  ]],
     [[sys_tf.den[0][0].tolist(), [1]], [[1],    [1, 2, 1]]],
     name='sys_mtf_zpk', display_format='zpk')
 syslist += [sys_mtf]
 
-# Frequency response data (FRD) system (continous and discrete time)
+# Frequency response data (FRD) system (continuous and discrete time)
 sys_frd = ct.frd(sys_tf, np.logspace(-1, 1, 5))
 sys_dfrd = ct.frd(sys_dtf, np.logspace(-1, 1, 5))
 sys_mfrd = ct.frd(sys_mtf, np.logspace(-1, 1, 5))
