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fix isssues arising in merge of descfcn/iosys changes #540

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Merged
merged 1 commit into from
Feb 11, 2021
Merged

fix isssues arising in merge of descfcn/iosys changes #540

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6 changes: 4 additions & 2 deletions control/iosys.py
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Original file line number Diff line number Diff line change
Expand Up @@ -855,7 +855,7 @@ def __call__(sys, u, params=None, squeeze=None):

# Evaluate the function on the argument
out = sys._out(0, np.array((0,)), np.asarray(u))
_, out = _process_time_response(sys, [], out, [], squeeze=squeeze)
_, out = _process_time_response(sys, None, out, None, squeeze=squeeze)
return out

def _update_params(self, params, warning=False):
Expand Down Expand Up @@ -1867,8 +1867,10 @@ def linearize(sys, xeq, ueq=[], t=0, params={}, **kw):

# Utility function to parse a signal parameter
def _parse_signal_parameter(value, name, kwargs, end=False):
# Check kwargs for a variant of the parameter name
if value is None and name in kwargs:
value = list(kwargs.pop(name))
value = kwargs.pop(name)

if end and kwargs:
raise TypeError("unknown parameters %s" % kwargs)
return value
Expand Down
14 changes: 9 additions & 5 deletions control/timeresp.py
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Expand Up @@ -467,8 +467,11 @@ def _process_time_response(

Parameters
----------
sys : LTI or InputOutputSystem
System that generated the data (used to check if SISO/MIMO).

T : 1D array
Time values of the output
Time values of the output. Ignored if None.

yout : ndarray
Response of the system. This can either be a 1D array indexed by time
Expand All @@ -478,9 +481,9 @@ def _process_time_response(

xout : array, optional
Individual response of each x variable (if return_x is True). For a
SISO system (or if a single input is specified), This should be a 2D
SISO system (or if a single input is specified), this should be a 2D
array indexed by the state index and time (for single input systems)
or a 3D array indexed by state, input, and time.
or a 3D array indexed by state, input, and time. Ignored if None.

transpose : bool, optional
If True, transpose all input and output arrays (for backward
Expand Down Expand Up @@ -545,7 +548,7 @@ def _process_time_response(
raise ValueError("unknown squeeze value")

# Figure out whether and how to squeeze the state data
if issiso and len(xout.shape) > 2:
if issiso and xout is not None and len(xout.shape) > 2:
xout = xout[:, 0, :] # remove input

# See if we need to transpose the data back into MATLAB form
Expand All @@ -555,7 +558,8 @@ def _process_time_response(

# For signals, put the last index (time) into the first slot
yout = np.transpose(yout, np.roll(range(yout.ndim), 1))
xout = np.transpose(xout, np.roll(range(xout.ndim), 1))
if xout is not None:
xout = np.transpose(xout, np.roll(range(xout.ndim), 1))

# Return time, output, and (optionally) state
return (tout, yout, xout) if return_x else (tout, yout)
Expand Down