python-control · bnavigator · Mar 30, 2022 · Mar 20, 2022 · Mar 20, 2022 · Mar 20, 2022
diff --git a/control/config.py b/control/config.py
@@ -73,6 +73,9 @@ def set_defaults(module, **keywords):
     if not isinstance(module, str):
         raise ValueError("module must be a string")
     for key, val in keywords.items():
+        keyname = module + '.' + key
+        if keyname not in defaults and f"deprecated.{keyname}" not in defaults:
+            raise TypeError(f"unrecognized keyword: {key}")
         defaults[module + '.' + key] = val
 
 
@@ -289,6 +292,6 @@ def use_legacy_defaults(version):
         set_defaults('control', squeeze_time_response=True)
 
         # switched mirror_style of nyquist from '-' to '--'
-        set_defaults('nyqist', mirror_style='-')
+        set_defaults('nyquist', mirror_style='-')
 
     return (major, minor, patch)
diff --git a/control/frdata.py b/control/frdata.py
@@ -150,7 +150,11 @@ def __init__(self, *args, **kwargs):
 
         """
         # TODO: discrete-time FRD systems?
-        smooth = kwargs.get('smooth', False)
+        smooth = kwargs.pop('smooth', False)
+
+        # Make sure there were no extraneous keywords
+        if kwargs:
+            raise TypeError("unrecognized keywords: ", str(kwargs))
 
         if len(args) == 2:
             if not isinstance(args[0], FRD) and isinstance(args[0], LTI):

diff --git a/control/freqplot.py b/control/freqplot.py
@@ -221,12 +221,10 @@ def bode_plot(syslist, omega=None,
         # Get the current figure
 
         if 'sisotool' in kwargs:
-            fig = kwargs['fig']
+            fig = kwargs.pop('fig')
             ax_mag = fig.axes[0]
             ax_phase = fig.axes[2]
-            sisotool = kwargs['sisotool']
-            del kwargs['fig']
-            del kwargs['sisotool']
+            sisotool = kwargs.pop('sisotool')
         else:
             fig = plt.gcf()
             ax_mag = None

diff --git a/control/iosys.py b/control/iosys.py
@@ -148,7 +148,7 @@ def __init__(self, inputs=None, outputs=None, states=None, params={},
         # timebase
         self.dt = kwargs.pop('dt', config.defaults['control.default_dt'])
 
-        # Make sure there were no extraneous keyworks
+        # Make sure there were no extraneous keywords
         if kwargs:
             raise TypeError("unrecognized keywords: ", str(kwargs))
 
@@ -560,7 +560,7 @@ def linearize(self, x0, u0, t=0, params={}, eps=1e-6,
 
         # Create the state space system
         linsys = LinearIOSystem(
-            StateSpace(A, B, C, D, self.dt, remove_useless=False),
+            StateSpace(A, B, C, D, self.dt, remove_useless_states=False),
             name=name, **kwargs)
 
         # Set the names the system, inputs, outputs, and states
@@ -660,7 +660,7 @@ def __init__(self, linsys, inputs=None, outputs=None, states=None,
             states=linsys.nstates, params={}, dt=linsys.dt, name=name)
 
         # Initalize additional state space variables
-        StateSpace.__init__(self, linsys, remove_useless=False)
+        StateSpace.__init__(self, linsys, remove_useless_states=False)
 
         # Process input, output, state lists, if given
         # Make sure they match the size of the linear system
@@ -790,9 +790,9 @@ def __init__(self, updfcn, outfcn=None, inputs=None, outputs=None,
             params=params, dt=dt, name=name
         )
 
-        # Make sure all input arguments got parsed
+        # Make sure there were no extraneous keywords
         if kwargs:
-            raise TypeError("unknown parameters %s" % kwargs)
+            raise TypeError("unrecognized keywords: ", str(kwargs))
 
         # Check to make sure arguments are consistent
         if updfcn is None:
@@ -1551,7 +1551,7 @@ def __init__(self, io_sys, ss_sys=None):
                io_sys.nstates != ss_sys.nstates:
                 raise ValueError("System dimensions for first and second "
                                  "arguments must match.")
-            StateSpace.__init__(self, ss_sys, remove_useless=False)
+            StateSpace.__init__(self, ss_sys, remove_useless_states=False)
 
         else:
             raise TypeError("Second argument must be a state space system.")
@@ -1656,14 +1656,14 @@ def input_output_response(
             raise ValueError("ivp_method specified more than once")
         solve_ivp_kwargs['method'] = kwargs.pop('solve_ivp_method')
 
+    # Make sure there were no extraneous keywords
+    if kwargs:
+        raise TypeError("unrecognized keywords: ", str(kwargs))
+
     # Set the default method to 'RK45'
     if solve_ivp_kwargs.get('method', None) is None:
         solve_ivp_kwargs['method'] = 'RK45'
 
-    # Make sure all input arguments got parsed
-    if kwargs:
-        raise TypeError("unknown parameters %s" % kwargs)
-
     # Sanity checking on the input
     if not isinstance(sys, InputOutputSystem):
         raise TypeError("System of type ", type(sys), " not valid")
@@ -1829,7 +1829,7 @@ def ivp_rhs(t, x):
 
 def find_eqpt(sys, x0, u0=[], y0=None, t=0, params={},
               iu=None, iy=None, ix=None, idx=None, dx0=None,
-              return_y=False, return_result=False, **kw):
+              return_y=False, return_result=False):
     """Find the equilibrium point for an input/output system.
 
     Returns the value of an equilibrium point given the initial state and
@@ -1933,7 +1933,7 @@ def find_eqpt(sys, x0, u0=[], y0=None, t=0, params={},
             # Take u0 as fixed and minimize over x
             # TODO: update to allow discrete time systems
             def ode_rhs(z): return sys._rhs(t, z, u0)
-            result = root(ode_rhs, x0, **kw)
+            result = root(ode_rhs, x0)
             z = (result.x, u0, sys._out(t, result.x, u0))
         else:
             # Take y0 as fixed and minimize over x and u
@@ -1944,7 +1944,7 @@ def rootfun(z):
                 return np.concatenate(
                     (sys._rhs(t, x, u), sys._out(t, x, u) - y0), axis=0)
             z0 = np.concatenate((x0, u0), axis=0)   # Put variables together
-            result = root(rootfun, z0, **kw)        # Find the eq point
+            result = root(rootfun, z0)              # Find the eq point
             x, u = np.split(result.x, [nstates])    # Split result back in two
             z = (x, u, sys._out(t, x, u))
 
@@ -2056,7 +2056,7 @@ def rootfun(z):
         z0 = np.concatenate((x[state_vars], u[input_vars]), axis=0)
 
         # Finally, call the root finding function
-        result = root(rootfun, z0, **kw)
+        result = root(rootfun, z0)
 
         # Extract out the results and insert into x and u
         x[state_vars] = result.x[:nstate_vars]
@@ -2134,7 +2134,8 @@ def _parse_signal_parameter(value, name, kwargs, end=False):
         value = kwargs.pop(name)
 
     if end and kwargs:
-        raise TypeError("unknown parameters %s" % kwargs)
+        raise TypeError("unrecognized keywords: ", str(kwargs))
+
     return value
 
 
@@ -2237,7 +2238,15 @@ def ss(*args, **kwargs):
     >>> sys2 = ss(sys_tf)
 
     """
-    sys = _ss(*args, keywords=kwargs)
+    # Extract the keyword arguments needed for StateSpace (via _ss)
+    ss_kwlist = ('dt', 'remove_useless_states')
+    ss_kwargs = {}
+    for kw in ss_kwlist:
+        if kw in kwargs:
+            ss_kwargs[kw] = kwargs.pop(kw)
+
+    # Create the statespace system and then convert to I/O system
+    sys = _ss(*args, keywords=ss_kwargs)
     return LinearIOSystem(sys, **kwargs)
 
 

diff --git a/control/optimal.py b/control/optimal.py
@@ -154,7 +154,7 @@ def __init__(
         self.minimize_kwargs.update(kwargs.pop(
             'minimize_kwargs', config.defaults['optimal.minimize_kwargs']))
 
-        # Make sure all input arguments got parsed
+        # Make sure there were no extraneous keywords
         if kwargs:
             raise TypeError("unrecognized keyword(s): ", str(kwargs))
 

diff --git a/control/pzmap.py b/control/pzmap.py
@@ -91,7 +91,11 @@ def pzmap(sys, plot=None, grid=None, title='Pole Zero Map', **kwargs):
         import warnings
         warnings.warn("'Plot' keyword is deprecated in pzmap; use 'plot'",
                       FutureWarning)
-        plot = kwargs['Plot']
+        plot = kwargs.pop('Plot')
+
+    # Make sure there were no extraneous keywords
+    if kwargs:
+        raise TypeError("unrecognized keywords: ", str(kwargs))
 
     # Get parameter values
     plot = config._get_param('pzmap', 'plot', plot, True)

diff --git a/control/rlocus.py b/control/rlocus.py
@@ -168,6 +168,10 @@ def root_locus(sys, kvect=None, xlim=None, ylim=None,
     # Check for sisotool mode
     sisotool = False if 'sisotool' not in kwargs else True
 
+    # Make sure there were no extraneous keywords
+    if not sisotool and kwargs:
+        raise TypeError("unrecognized keywords: ", str(kwargs))
+
     # Create the Plot
     if plot:
         if sisotool:

diff --git a/control/statefbk.py b/control/statefbk.py
@@ -261,7 +261,7 @@ def place_varga(A, B, p, dtime=False, alpha=None):
 
 
 # contributed by Sawyer B. Fuller <minster@uw.edu>
-def lqe(*args, **keywords):
+def lqe(*args, method=None):
     """lqe(A, G, C, QN, RN, [, NN])
 
     Linear quadratic estimator design (Kalman filter) for continuous-time
@@ -356,18 +356,15 @@ def lqe(*args, **keywords):
     # Process the arguments and figure out what inputs we received
     #
 
-    # Get the method to use (if specified as a keyword)
-    method = keywords.get('method', None)
+    # If we were passed a discrete time system as the first arg, use dlqe()
+    if isinstance(args[0], LTI) and isdtime(args[0], strict=True):
+        # Call dlqe
+        return dlqe(*args, method=method)
 
     # Get the system description
     if (len(args) < 3):
         raise ControlArgument("not enough input arguments")
 
-    # If we were passed a discrete time system as the first arg, use dlqe()
-    if isinstance(args[0], LTI) and isdtime(args[0], strict=True):
-        # Call dlqe
-        return dlqe(*args, **keywords)
-
     # If we were passed a state space  system, use that to get system matrices
     if isinstance(args[0], StateSpace):
         A = np.array(args[0].A, ndmin=2, dtype=float)
@@ -409,7 +406,7 @@ def lqe(*args, **keywords):
 
 
 # contributed by Sawyer B. Fuller <minster@uw.edu>
-def dlqe(*args, **keywords):
+def dlqe(*args, method=None):
     """dlqe(A, G, C, QN, RN, [, N])
 
     Linear quadratic estimator design (Kalman filter) for discrete-time
@@ -480,9 +477,6 @@ def dlqe(*args, **keywords):
     # Process the arguments and figure out what inputs we received
     #
 
-    # Get the method to use (if specified as a keyword)
-    method = keywords.get('method', None)
-
     # Get the system description
     if (len(args) < 3):
         raise ControlArgument("not enough input arguments")

diff --git a/control/statesp.py b/control/statesp.py
@@ -340,6 +340,10 @@ def __init__(self, *args, keywords=None, **kwargs):
         self.dt = dt
         self.nstates = A.shape[1]
 
+        # Make sure there were no extraneous keywords
+        if keywords:
+            raise TypeError("unrecognized keywords: ", str(keywords))
+
         if 0 == self.nstates:
             # static gain
             # matrix's default "empty" shape is 1x0
@@ -1776,7 +1780,12 @@ def _ss(*args, keywords=None, **kwargs):
     """Internal function to create StateSpace system"""
     if len(args) == 4 or len(args) == 5:
         return StateSpace(*args, keywords=keywords, **kwargs)
+
     elif len(args) == 1:
+        # Make sure there were no extraneous keywords
+        if kwargs:
+            raise TypeError("unrecognized keywords: ", str(kwargs))
+
         from .xferfcn import TransferFunction
         sys = args[0]
         if isinstance(sys, StateSpace):

diff --git a/control/tests/config_test.py b/control/tests/config_test.py
@@ -23,10 +23,10 @@ class TestConfig:
     sys = ct.tf([10], [1, 2, 1])
 
     def test_set_defaults(self):
-        ct.config.set_defaults('config', test1=1, test2=2, test3=None)
-        assert ct.config.defaults['config.test1'] == 1
-        assert ct.config.defaults['config.test2'] == 2
-        assert ct.config.defaults['config.test3'] is None
+        ct.config.set_defaults('freqplot', dB=1, deg=2, Hz=None)
+        assert ct.config.defaults['freqplot.dB'] == 1
+        assert ct.config.defaults['freqplot.deg'] == 2
+        assert ct.config.defaults['freqplot.Hz'] is None
 
     @mplcleanup
     def test_get_param(self):

diff --git a/control/tests/frd_test.py b/control/tests/frd_test.py
@@ -472,3 +472,9 @@ def test_repr_str(self):
       10.000         0.2        +4j
      100.000         0.1        +6j"""
         assert str(sysm) == refm
+
+    def test_unrecognized_keyword(self):
+        h = TransferFunction([1], [1, 2, 2])
+        omega = np.logspace(-1, 2, 10)
+        with pytest.raises(TypeError, match="unrecognized keyword"):
+            frd = FRD(h, omega, unknown=None)
diff --git a/control/tests/interconnect_test.py b/control/tests/interconnect_test.py
@@ -188,27 +188,27 @@ def test_interconnect_exceptions():
 
     # Unrecognized arguments
     # LinearIOSystem
-    with pytest.raises(TypeError, match="unknown parameter"):
+    with pytest.raises(TypeError, match="unrecognized keyword"):
         P = ct.LinearIOSystem(ct.rss(2, 1, 1), output_name='y')
 
     # Interconnect
-    with pytest.raises(TypeError, match="unknown parameter"):
+    with pytest.raises(TypeError, match="unrecognized keyword"):
         T = ct.interconnect((P, C, sumblk), input_name='r', output='y')
 
     # Interconnected system
-    with pytest.raises(TypeError, match="unknown parameter"):
+    with pytest.raises(TypeError, match="unrecognized keyword"):
         T = ct.InterconnectedSystem((P, C, sumblk), input_name='r', output='y')
 
     # NonlinearIOSytem
-    with pytest.raises(TypeError, match="unknown parameter"):
+    with pytest.raises(TypeError, match="unrecognized keyword"):
         nlios =  ct.NonlinearIOSystem(
             None, lambda t, x, u, params: u*u, input_count=1, output_count=1)
 
     # Summing junction
     with pytest.raises(TypeError, match="input specification is required"):
         sumblk = ct.summing_junction()
 
-    with pytest.raises(TypeError, match="unknown parameter"):
+    with pytest.raises(TypeError, match="unrecognized keyword"):
         sumblk = ct.summing_junction(input_count=2, output_count=2)
 
 

diff --git a/control/tests/iosys_test.py b/control/tests/iosys_test.py
@@ -1580,7 +1580,8 @@ def test_interconnect_unused_input():
                           outputs=['u'],
                           name='k')
 
-    with pytest.warns(UserWarning, match=r"Unused input\(s\) in InterconnectedSystem"):
+    with pytest.warns(
+            UserWarning, match=r"Unused input\(s\) in InterconnectedSystem"):
         h = ct.interconnect([g,s,k],
                             inputs=['r'],
                             outputs=['y'])
@@ -1611,13 +1612,19 @@ def test_interconnect_unused_input():
 
 
     # warn if explicity ignored input in fact used
-    with pytest.warns(UserWarning, match=r"Input\(s\) specified as ignored is \(are\) used:") as record:
+    with pytest.warns(
+            UserWarning,
+            match=r"Input\(s\) specified as ignored is \(are\) used:") \
+            as record:
         h = ct.interconnect([g,s,k],
                             inputs=['r'],
                             outputs=['y'],
                             ignore_inputs=['u','n'])
 
-    with pytest.warns(UserWarning, match=r"Input\(s\) specified as ignored is \(are\) used:") as record:
+    with pytest.warns(
+            UserWarning,
+            match=r"Input\(s\) specified as ignored is \(are\) used:") \
+            as record:
         h = ct.interconnect([g,s,k],
                             inputs=['r'],
                             outputs=['y'],