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Mar 25, 2025
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Add type error checks, unit tests, documentation for real-valued systems #1142

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d9affba
add error checks, unit tests, documentation for real-valued systems
murrayrm Mar 24, 2025
6b4501e
fix unintended use of complex coefficient in examples/cruise.ipynb
murrayrm Mar 24, 2025
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1 change: 1 addition & 0 deletions control/tests/statesp_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -136,6 +136,7 @@ def test_constructor(self, sys322ABCD, dt, argfun):
((np.ones((3, 3)), np.ones((3, 2)),
np.ones((2, 3)), np.ones((2, 3))), ValueError,
r"Incompatible dimensions of D matrix; expected \(2, 2\)"),
(([1j], 2, 3, 0), TypeError, "real number, not 'complex'"),
])
def test_constructor_invalid(self, args, exc, errmsg):
"""Test invalid input to StateSpace() constructor"""
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4 changes: 4 additions & 0 deletions control/tests/xferfcn_test.py
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Expand Up @@ -49,6 +49,10 @@ def test_constructor_bad_input_type(self):
[[4, 5], [6, 7]]],
[[[6, 7], [4, 5]],
[[2, 3]]])

with pytest.raises(TypeError, match="unsupported data type"):
ct.tf([1j], [1, 2, 3])

# good input
TransferFunction([[[0, 1], [2, 3]],
[[4, 5], [6, 7]]],
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6 changes: 5 additions & 1 deletion control/xferfcn.py
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Expand Up @@ -1954,6 +1954,7 @@ def _clean_part(data, name="<unknown>"):

"""
valid_types = (int, float, complex, np.number)
unsupported_types = (complex, np.complexfloating)
valid_collection = (list, tuple, ndarray)

if isinstance(data, np.ndarray) and data.ndim == 2 and \
Expand Down Expand Up @@ -1998,8 +1999,11 @@ def _clean_part(data, name="<unknown>"):
for i in range(out.shape[0]):
for j in range(out.shape[1]):
for k in range(len(out[i, j])):
if isinstance(out[i, j][k], (int, np.int32, np.int64)):
if isinstance(out[i, j][k], (int, np.integer)):
out[i, j][k] = float(out[i, j][k])
elif isinstance(out[i, j][k], unsupported_types):
raise TypeError(
f"unsupported data type: {type(out[i, j][k])}")
return out


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5 changes: 3 additions & 2 deletions doc/linear.rst
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Expand Up @@ -39,7 +39,7 @@ of linear time-invariant (LTI) systems:
y &= C x + D u

where :math:`u` is the input, :math:`y` is the output, and :math:`x`
is the state.
is the state. All vectors and matrices must be real-valued.

To create a state space system, use the :func:`ss` function:

Expand Down Expand Up @@ -94,7 +94,8 @@ transfer functions
{b_0 s^n + b_1 s^{n-1} + \cdots + b_n},

where :math:`n` is greater than or equal to :math:`m` for a proper
transfer function. Improper transfer functions are also allowed.
transfer function. Improper transfer functions are also allowed. All
coefficients must be real-valued.

To create a transfer function, use the :func:`tf` function::

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6 changes: 3 additions & 3 deletions examples/cruise.ipynb
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Expand Up @@ -420,8 +420,8 @@
"name": "stdout",
"output_type": "stream",
"text": [
"system: a = (0.010124405669387215-0j) , b = (1.3203061238159202+0j)\n",
"pzcancel: kp = 0.5 , ki = (0.005062202834693608+0j) , 1/(kp b) = (1.5148002148317266+0j)\n",
"system: a = 0.010124405669387215 , b = 1.3203061238159202\n",
"pzcancel: kp = 0.5 , ki = 0.005062202834693608 , 1/(kp b) = 1.5148002148317266\n",
"sfb_int: K = 0.5 , ki = 0.1\n"
]
},
Expand All @@ -442,7 +442,7 @@
"\n",
"# Construction a controller that cancels the pole\n",
"kp = 0.5\n",
"a = -P.poles()[0]\n",
"a = -P.poles()[0].real\n",
"b = np.real(P(0)) * a\n",
"ki = a * kp\n",
"control_pz = ct.TransferFunction(\n",
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