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Jan 2, 2018
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Fixes for SciPy 1.0 compatibility #170

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11 changes: 6 additions & 5 deletions control/bdalg.py
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Original file line number Diff line number Diff line change
Expand Up @@ -54,6 +54,7 @@
"""

import scipy as sp
import numpy as np
from . import xferfcn as tf
from . import statesp as ss
from . import frdata as frd
Expand Down Expand Up @@ -221,18 +222,18 @@ def feedback(sys1, sys2=1, sign=-1):
"""

# Check for correct input types.
if not isinstance(sys1, (int, float, complex, tf.TransferFunction,
ss.StateSpace, frd.FRD)):
if not isinstance(sys1, (int, float, complex, np.number,
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@roryyorke roryyorke Dec 30, 2017 •
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I'm struggling to find docs on numpy.number; it has a __doc__ string, but no entry, e.g., here: https://docs.scipy.org/doc/numpy-1.13.0/genindex.html . This use seems reasonable, just not sure how standard it is.

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Numpy scalar type hierarchy is here: https://docs.scipy.org/doc/numpy-1.13.0/reference/arrays.scalars.html

tf.TransferFunction, ss.StateSpace, frd.FRD)):
raise TypeError("sys1 must be a TransferFunction, StateSpace " +
"or FRD object, or a scalar.")
if not isinstance(sys2, (int, float, complex, tf.TransferFunction,
ss.StateSpace, frd.FRD)):
if not isinstance(sys2, (int, float, complex, np.number,
tf.TransferFunction, ss.StateSpace, frd.FRD)):
raise TypeError("sys2 must be a TransferFunction, StateSpace " +
"or FRD object, or a scalar.")

# If sys1 is a scalar, convert it to the appropriate LTI type so that we can
# its feedback member function.
if isinstance(sys1, (int, float, complex)):
if isinstance(sys1, (int, float, complex, np.number)):
if isinstance(sys2, tf.TransferFunction):
sys1 = tf._convertToTransferFunction(sys1)
elif isinstance(sys2, ss.StateSpace):
Expand Down
11 changes: 6 additions & 5 deletions control/frdata.py
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Original file line number Diff line number Diff line change
Expand Up @@ -49,6 +49,7 @@
"""

# External function declarations
import numpy as np
from numpy import angle, array, empty, ones, \
real, imag, matrix, absolute, eye, linalg, where, dot
from scipy.interpolate import splprep, splev
Expand Down Expand Up @@ -219,7 +220,7 @@ def __mul__(self, other):
"""Multiply two LTI objects (serial connection)."""

# Convert the second argument to a transfer function.
if isinstance(other, (int, float, complex)):
if isinstance(other, (int, float, complex, np.number)):
return FRD(self.fresp * other, self.omega,
smooth=(self.ifunc is not None))
else:
Expand All @@ -245,7 +246,7 @@ def __rmul__(self, other):
"""Right Multiply two LTI objects (serial connection)."""

# Convert the second argument to an frd function.
if isinstance(other, (int, float, complex)):
if isinstance(other, (int, float, complex, np.number)):
return FRD(self.fresp * other, self.omega,
smooth=(self.ifunc is not None))
else:
Expand All @@ -272,7 +273,7 @@ def __rmul__(self, other):
def __truediv__(self, other):
"""Divide two LTI objects."""

if isinstance(other, (int, float, complex)):
if isinstance(other, (int, float, complex, np.number)):
return FRD(self.fresp * (1/other), self.omega,
smooth=(self.ifunc is not None))
else:
Expand All @@ -295,7 +296,7 @@ def __div__(self, other):
# TODO: Division of MIMO transfer function objects is not written yet.
def __rtruediv__(self, other):
"""Right divide two LTI objects."""
if isinstance(other, (int, float, complex)):
if isinstance(other, (int, float, complex, np.number)):
return FRD(other / self.fresp, self.omega,
smooth=(self.ifunc is not None))
else:
Expand Down Expand Up @@ -449,7 +450,7 @@ def _convertToFRD(sys, omega, inputs=1, outputs=1):

return FRD(fresp, omega, smooth=True)

elif isinstance(sys, (int, float, complex)):
elif isinstance(sys, (int, float, complex, np.number)):
fresp = ones((outputs, inputs, len(omega)), dtype=float)*sys
return FRD(fresp, omega, smooth=True)

Expand Down
9 changes: 5 additions & 4 deletions control/lti.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@
timebaseEqual()
"""

import numpy as np
from numpy import absolute, real

__all__ = ['issiso', 'timebase', 'timebaseEqual', 'isdtime', 'isctime',
Expand Down Expand Up @@ -96,7 +97,7 @@ def dcgain(self):

# Test to see if a system is SISO
def issiso(sys, strict=False):
if isinstance(sys, (int, float, complex)) and not strict:
if isinstance(sys, (int, float, complex, np.number)) and not strict:
return True
elif not isinstance(sys, LTI):
raise ValueError("Object is not an LTI system")
Expand All @@ -114,7 +115,7 @@ def timebase(sys, strict=True):
set to False, dt = True will be returned as 1.
"""
# System needs to be either a constant or an LTI system
if isinstance(sys, (int, float, complex)):
if isinstance(sys, (int, float, complex, np.number)):
return None
elif not isinstance(sys, LTI):
raise ValueError("Timebase not defined")
Expand Down Expand Up @@ -162,7 +163,7 @@ def isdtime(sys, strict=False):
"""

# Check to see if this is a constant
if isinstance(sys, (int, float, complex)):
if isinstance(sys, (int, float, complex, np.number)):
# OK as long as strict checking is off
return True if not strict else False

Expand All @@ -187,7 +188,7 @@ def isctime(sys, strict=False):
"""

# Check to see if this is a constant
if isinstance(sys, (int, float, complex)):
if isinstance(sys, (int, float, complex, np.number)):
# OK as long as strict checking is off
return True if not strict else False

Expand Down
14 changes: 7 additions & 7 deletions control/statesp.py
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Original file line number Diff line number Diff line change
Expand Up @@ -58,6 +58,7 @@
from numpy.random import rand, randn
from numpy.linalg import solve, eigvals, matrix_rank
from numpy.linalg.linalg import LinAlgError
import scipy as sp
from scipy.signal import lti, cont2discrete
# from exceptions import Exception
import warnings
Expand Down Expand Up @@ -218,7 +219,7 @@ def __add__(self, other):
"""Add two LTI systems (parallel connection)."""

# Check for a couple of special cases
if (isinstance(other, (int, float, complex))):
if (isinstance(other, (int, float, complex, np.number))):
# Just adding a scalar; put it in the D matrix
A, B, C = self.A, self.B, self.C;
D = self.D + other;
Expand Down Expand Up @@ -275,7 +276,7 @@ def __mul__(self, other):
"""Multiply two LTI objects (serial connection)."""

# Check for a couple of special cases
if isinstance(other, (int, float, complex)):
if isinstance(other, (int, float, complex, np.number)):
# Just multiplying by a scalar; change the output
A, B = self.A, self.B
C = self.C * other
Expand Down Expand Up @@ -316,7 +317,7 @@ def __rmul__(self, other):
"""Right multiply two LTI objects (serial connection)."""

# Check for a couple of special cases
if isinstance(other, (int, float, complex)):
if isinstance(other, (int, float, complex, np.number)):
# Just multiplying by a scalar; change the input
A, C = self.A, self.C;
B = self.B * other;
Expand Down Expand Up @@ -699,11 +700,10 @@ def _convertToStateSpace(sys, **kw):
# TODO: do we want to squeeze first and check dimenations?
# I think this will fail if num and den aren't 1-D after
# the squeeze
lti_sys = lti(squeeze(sys.num), squeeze(sys.den))
return StateSpace(lti_sys.A, lti_sys.B, lti_sys.C, lti_sys.D,
sys.dt)
A, B, C, D = sp.signal.tf2ss(squeeze(sys.num), squeeze(sys.den))
return StateSpace(A, B, C, D, sys.dt)

elif isinstance(sys, (int, float, complex)):
elif isinstance(sys, (int, float, complex, np.number)):
if "inputs" in kw:
inputs = kw["inputs"]
else:
Expand Down
33 changes: 17 additions & 16 deletions control/xferfcn.py
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Original file line number Diff line number Diff line change
Expand Up @@ -52,10 +52,11 @@
"""

# External function declarations
import numpy as np
from numpy import angle, any, array, empty, finfo, insert, ndarray, ones, \
polyadd, polymul, polyval, roots, sort, sqrt, zeros, squeeze, exp, pi, \
where, delete, real, poly, poly1d
import numpy as np
import scipy as sp
from scipy.signal import lti, tf2zpk, zpk2tf, cont2discrete
from copy import deepcopy
from warnings import warn
Expand Down Expand Up @@ -126,7 +127,7 @@ def __init__(self, *args):
data = [num, den]
for i in range(len(data)):
# Check for a scalar (including 0d ndarray)
if (isinstance(data[i], (int, float, complex)) or
if (isinstance(data[i], (int, float, complex, np.number)) or
(isinstance(data[i], ndarray) and data[i].ndim == 0)):
# Convert scalar to list of list of array.
if (isinstance(data[i], int)):
Expand All @@ -135,7 +136,7 @@ def __init__(self, *args):
else:
data[i] = [[array([data[i]])]]
elif (isinstance(data[i], (list, tuple, ndarray)) and
isinstance(data[i][0], (int, float, complex))):
isinstance(data[i][0], (int, float, complex, np.number))):
# Convert array to list of list of array.
if (isinstance(data[i][0], int)):
# Convert integers to floats at this point
Expand All @@ -146,7 +147,8 @@ def __init__(self, *args):
elif (isinstance(data[i], list) and
isinstance(data[i][0], list) and
isinstance(data[i][0][0], (list, tuple, ndarray)) and
isinstance(data[i][0][0][0], (int, float, complex))):
isinstance(data[i][0][0][0], (int, float, complex,
np.number))):
# We might already have the right format. Convert the
# coefficient vectors to arrays, if necessary.
for j in range(len(data[i])):
Expand Down Expand Up @@ -363,7 +365,7 @@ def __rsub__(self, other):
def __mul__(self, other):
"""Multiply two LTI objects (serial connection)."""
# Convert the second argument to a transfer function.
if isinstance(other, (int, float, complex)):
if isinstance(other, (int, float, complex, np.number)):
other = _convertToTransferFunction(other, inputs=self.inputs,
outputs=self.inputs)
else:
Expand Down Expand Up @@ -410,7 +412,7 @@ def __rmul__(self, other):
"""Right multiply two LTI objects (serial connection)."""

# Convert the second argument to a transfer function.
if isinstance(other, (int, float, complex)):
if isinstance(other, (int, float, complex, np.number)):
other = _convertToTransferFunction(other, inputs=self.inputs,
outputs=self.inputs)
else:
Expand Down Expand Up @@ -458,7 +460,7 @@ def __rmul__(self, other):
def __truediv__(self, other):
"""Divide two LTI objects."""

if isinstance(other, (int, float, complex)):
if isinstance(other, (int, float, complex, np.number)):
other = _convertToTransferFunction(
other, inputs=self.inputs,
outputs=self.inputs)
Expand Down Expand Up @@ -492,7 +494,7 @@ def __div__(self, other):
# TODO: Division of MIMO transfer function objects is not written yet.
def __rtruediv__(self, other):
"""Right divide two LTI objects."""
if isinstance(other, (int, float, complex)):
if isinstance(other, (int, float, complex, np.number)):
other = _convertToTransferFunction(
other, inputs=self.inputs,
outputs=self.inputs)
Expand Down Expand Up @@ -1128,22 +1130,21 @@ def _convertToTransferFunction(sys, **kw):
# Each transfer function matrix row
# has a common denominator.
den[i][j] = list(tfout[5][i, :])
# print(num)
# print(den)

except ImportError:
# If slycot is not available, use signal.lti (SISO only)
if (sys.inputs != 1 or sys.outputs != 1):
raise TypeError("No support for MIMO without slycot")

lti_sys = lti(sys.A, sys.B, sys.C, sys.D)
num = squeeze(lti_sys.num)
den = squeeze(lti_sys.den)
# print(num)
# print(den)
# Do the conversion using sp.signal.ss2tf
# Note that this returns a 2D array for the numerator
num, den = sp.signal.ss2tf(sys.A, sys.B, sys.C, sys.D)
num = squeeze(num) # Convert to 1D array
den = squeeze(den) # Probably not needed

return TransferFunction(num, den, sys.dt)

elif isinstance(sys, (int, float, complex)):
elif isinstance(sys, (int, float, complex, np.number)):
if "inputs" in kw:
inputs = kw["inputs"]
else:
Expand Down