python-control · rabraker · Feb 17, 2017 · Feb 17, 2017 · Feb 18, 2017 · Feb 18, 2017
diff --git a/.gitignore b/.gitignore
@@ -9,6 +9,7 @@ __conda_*.txt
 record.txt
 build.log
 *.egg-info/
+.eggs/
 .coverage
 doc/_build
 doc/generated
@@ -18,3 +19,7 @@ examples/.ipynb_checkpoints/
 .project
 Untitled*.ipynb
 *.idea/
+
+# Files created by or for emacs (RMM, 29 Dec 2017)
+*~
+TAGS
diff --git a/.travis.yml b/.travis.yml
@@ -9,13 +9,31 @@ cache:
     - $HOME/.local
 
 python:
-  - "2.7"
-  - "3.3"
-  - "3.4"
+  - "3.6"
   - "3.5"
+  - "2.7"
+
+# Test against multiple version of SciPy, with and without slycot
+#
+# Because there were significant changes in SciPy between v0 and v1, we 
+# test against both of these using the Travis CI environment capability
+#
+# We also want to test with and without slycot
+env:
+  - SCIPY=scipy SLYCOT=slycot		# default, with slycot
+  - SCIPY=scipy SLYCOT=			# default, w/out slycot
+  - SCIPY="scipy==0.19.1" SLYCOT=	# legacy support, w/out slycot
 
 # install required system libraries
 before_install:
+  # Install gfortran for testing slycot; use apt-get instead of conda in
+  # order to include the proper CXXABI dependency (updated in GCC 4.9)
+  # Also need to include liblapack here, to make sure paths are right
+  - if [[ "$SLYCOT" != "" ]]; then
+      sudo apt-get update -qq;
+      sudo apt-get install gfortran liblapack-dev;
+    fi
+  # Install display manager to allow testing of plotting functions
   - export DISPLAY=:99.0
   - sh -e /etc/init.d/xvfb start
   # use miniconda to install numpy/scipy, to avoid lengthy build from source
@@ -29,27 +47,30 @@ before_install:
   - hash -r
   - conda config --set always_yes yes --set changeps1 no
   - conda update -q conda
-  # conda-build must be installed in the conda root environment
-  - conda install conda-build
   - conda config --add channels python-control
   - conda info -a
   - conda create -q -n test-environment python="$TRAVIS_PYTHON_VERSION" pip coverage
   - source activate test-environment
-  # coveralls not in conda repos
+  # Make sure to look in the right place for python libraries (for slycot)
+  - export LIBRARY_PATH="$HOME/miniconda/envs/test-environment/lib"
+  # coveralls not in conda repos => install via pip instead
   - pip install coveralls
 
 # Install packages
 install:
-  - conda build --python "$TRAVIS_PYTHON_VERSION" conda-recipe
-  - conda install control --use-local
+  # Install packages needed by python-control
+  - conda install $SCIPY matplotlib
+  # Build slycot from source
+  # For python 3, need to provide pointer to python library
+  #! git clone https://github.com/repagh/Slycot.git slycot;
+  - if [[ "$SLYCOT" != "" ]]; then
+      git clone https://github.com/python-control/Slycot.git slycot;
+      cd slycot; python setup.py install; cd ..;
+    fi
 
 # command to run tests
 script:
-  # Before installing Slycot
-  - python setup.py test
-
-  # Now, get and use Slycot
-  - conda install slycot
+  - 'if [ $SLYCOT != "" ]; then python -c "import slycot"; fi'
   - coverage run setup.py test
 
 after_success:

diff --git a/conda-recipe/meta.yaml b/conda-recipe/meta.yaml
@@ -1,7 +1,12 @@
 package:
   name: control
+  version: {{ GIT_DESCRIBE_TAG }}
+
+source:
+  git_url: ../
 
 build:
+  number: {{ GIT_DESCRIBE_NUMBER }}
   script:
     - cd $RECIPE_DIR/..
     - $PYTHON make_version.py

diff --git a/control/bdalg.py b/control/bdalg.py
@@ -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
@@ -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,
+                             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):
@@ -246,7 +247,8 @@ def feedback(sys1, sys2=1, sign=-1):
     return sys1.feedback(sys2, sign)
 
 def append(*sys):
-    '''
+    '''append(sys1, sys2, ... sysn)
+
     Group models by appending their inputs and outputs
 
     Forms an augmented system model, and appends the inputs and

diff --git a/control/ctrlutil.py b/control/ctrlutil.py
@@ -43,12 +43,12 @@
 # Packages that we need access to
 from . import lti
 import numpy as np
-from numpy import pi
+import math
 
 __all__ = ['unwrap', 'issys', 'db2mag', 'mag2db']
 
 # Utility function to unwrap an angle measurement
-def unwrap(angle, period=2*pi):
+def unwrap(angle, period=2*math.pi):
     """Unwrap a phase angle to give a continuous curve
 
     Parameters

diff --git a/control/frdata.py b/control/frdata.py
@@ -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
@@ -57,7 +58,9 @@
 __all__ = ['FRD', 'frd']
 
 class FRD(LTI):
-    """A class for models defined by Frequency Response Data (FRD)
+    """FRD(d, w)
+
+    A class for models defined by frequency response data (FRD)
 
     The FRD class is used to represent systems in frequency response data form.
 
@@ -80,7 +83,9 @@ class FRD(LTI):
     epsw = 1e-8
 
     def __init__(self, *args, **kwargs):
-        """Construct an FRD object
+        """FRD(d, w)
+
+        Construct an FRD object
 
         The default constructor is FRD(d, w), where w is an iterable of
         frequency points, and d is the matching frequency data.
@@ -219,7 +224,7 @@ 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:
@@ -245,7 +250,7 @@ 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:
@@ -272,7 +277,7 @@ 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:
@@ -295,7 +300,7 @@ 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:
@@ -449,7 +454,7 @@ 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)
 
@@ -469,8 +474,9 @@ def _convertToFRD(sys, omega, inputs=1, outputs=1):
                     sys.__class__)
 
 def frd(*args):
-    """
-    Construct a Frequency Response Data model, or convert a system
+    """frd(d, w)
+
+    Construct a frequency response data model
 
     frd models store the (measured) frequency response of a system.
 
@@ -500,6 +506,6 @@ def frd(*args):
 
     See Also
     --------
-    ss, tf
+    FRD, ss, tf
     """
     return FRD(*args)
diff --git a/control/freqplot.py b/control/freqplot.py
@@ -44,6 +44,7 @@
 import matplotlib.pyplot as plt
 import scipy as sp
 import numpy as np
+import math
 from .ctrlutil import unwrap
 from .bdalg import feedback
 
@@ -128,7 +129,7 @@ def bode_plot(syslist, omega=None, dB=None, Hz=None, deg=None,
         else:
             omega_limits = np.array(omega_limits)
             if Hz:
-                omega_limits *= 2.*np.pi
+                omega_limits *= 2.*math.pi
             if omega_num:
                 omega = sp.logspace(np.log10(omega_limits[0]), np.log10(omega_limits[1]), num=omega_num, endpoint=True)
             else:
@@ -142,7 +143,7 @@ def bode_plot(syslist, omega=None, dB=None, Hz=None, deg=None,
         else:
             omega_sys = np.array(omega)
             if sys.isdtime(True):
-                nyquistfrq = 2. * np.pi * 1. / sys.dt / 2.
+                nyquistfrq = 2. * math.pi * 1. / sys.dt / 2.
                 omega_sys = omega_sys[omega_sys < nyquistfrq]
                 # TODO: What distance to the Nyquist frequency is appropriate?
             else:
@@ -154,9 +155,9 @@ def bode_plot(syslist, omega=None, dB=None, Hz=None, deg=None,
             phase = unwrap(phase)
             nyquistfrq_plot = None
             if Hz:
-                omega_plot = omega_sys / (2. * np.pi)
+                omega_plot = omega_sys / (2. * math.pi)
                 if nyquistfrq:
-                    nyquistfrq_plot = nyquistfrq / (2. * np.pi)
+                    nyquistfrq_plot = nyquistfrq / (2. * math.pi)
             else:
                 omega_plot = omega_sys
                 if nyquistfrq:
@@ -187,7 +188,7 @@ def bode_plot(syslist, omega=None, dB=None, Hz=None, deg=None,
                 # Phase plot
                 ax_phase = plt.subplot(212, sharex=ax_mag);
                 if deg:
-                    phase_plot = phase * 180. / np.pi
+                    phase_plot = phase * 180. / math.pi
                 else:
                     phase_plot = phase
                 ax_phase.semilogx(omega_plot, phase_plot, *args, **kwargs)
@@ -208,8 +209,8 @@ def genZeroCenteredSeries(val_min, val_max, period):
                     ax_phase.set_yticks(genZeroCenteredSeries(ylim[0], ylim[1], 15.), minor=True)
                 else:
                     ylim = ax_phase.get_ylim()
-                    ax_phase.set_yticks(genZeroCenteredSeries(ylim[0], ylim[1], np.pi / 4.))
-                    ax_phase.set_yticks(genZeroCenteredSeries(ylim[0], ylim[1], np.pi / 12.), minor=True)
+                    ax_phase.set_yticks(genZeroCenteredSeries(ylim[0], ylim[1], math.pi / 4.))
+                    ax_phase.set_yticks(genZeroCenteredSeries(ylim[0], ylim[1], math.pi / 12.), minor=True)
                 ax_phase.grid(True, which='both')
                 # ax_mag.grid(which='minor', alpha=0.3)
                 # ax_mag.grid(which='major', alpha=0.9)
@@ -449,7 +450,7 @@ def default_frequency_range(syslist, Hz=None, number_of_samples=None, feature_pe
                 features_ = features_[features_ != 0.0];
                 features = np.concatenate((features, features_))
             elif sys.isdtime(strict=True):
-                fn = np.pi * 1. / sys.dt
+                fn = math.pi * 1. / sys.dt
                 # TODO: What distance to the Nyquist frequency is appropriate?
                 freq_interesting.append(fn * 0.9)
 
@@ -475,12 +476,12 @@ def default_frequency_range(syslist, Hz=None, number_of_samples=None, feature_pe
         features = np.array([1.]);
 
     if Hz:
-        features /= 2.*np.pi
+        features /= 2.*math.pi
         features = np.log10(features)
         lsp_min = np.floor(np.min(features) - feature_periphery_decade)
         lsp_max = np.ceil(np.max(features) + feature_periphery_decade)
-        lsp_min += np.log10(2.*np.pi)
-        lsp_max += np.log10(2.*np.pi)
+        lsp_min += np.log10(2.*math.pi)
+        lsp_max += np.log10(2.*math.pi)
     else:
         features = np.log10(features)
         lsp_min = np.floor(np.min(features) - feature_periphery_decade)

diff --git a/control/lti.py b/control/lti.py
@@ -12,6 +12,7 @@
 timebaseEqual()
 """
 
+import numpy as np
 from numpy import absolute, real
 
 __all__ = ['issiso', 'timebase', 'timebaseEqual', 'isdtime', 'isctime',
@@ -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")
@@ -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")
@@ -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
 
@@ -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