Fix interconnect type conversion bug for StateSpace systems #788
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roryyorke
reviewed
Nov 13, 2022
control/iosys.py
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| @@ -369,23 +369,24 @@ def _rhs(self, t, x, u, params={}): | |||
| NotImplemented("Evaluation not implemented for system of type ", | |||
| type(self)) | |||
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| def dynamics(self, t, x, u): | |||
| def dynamics(self, t, x, u, params={}): | |||
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Is there a reason not to use the params=None, if params is None: params={} pattern here? Using mutable objects for default parameters is usually not a good idea.
Also, why not **kwargs?
control/iosys.py
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| """Compute the dynamics of a differential or difference equation. | ||
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| Given time `t`, input `u` and state `x`, returns the value of the | ||
| right hand side of the dynamical system. If the system is continuous, | ||
| returns the time derivative | ||
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| dx/dt = f(t, x, u) | ||
| dx/dt = f(t, x, u, params) |
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Suggested change
| dx/dt = f(t, x, u, params) | |
| dx/dt = f(t, x, u[, params]) |
control/iosys.py
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| where `f` is the system's (possibly nonlinear) dynamics function. | ||
| If the system is discrete-time, returns the next value of `x`: | ||
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| x[t+dt] = f(t, x[t], u[t]) | ||
| x[t+dt] = f(t, x[t], u[t], params) |
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Suggested change
| x[t+dt] = f(t, x[t], u[t], params) | |
| x[t+dt] = f(t, x[t], u[t][, params]) |
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This PR fixes a problem that was identified in PR #785, where interconnecting a
LinearIOSystemwith aStateSpacesystem via theinterconnectfunction did not work correctly. In particular, if you created a mixed system of this type you would get back anInterconnectedSystemthat would generate an error is you tried to simulate it or evaluate the dynamics. This was fixed by adding a few lines of code tointerconnect()that convertStateSpaceandTransferFunctionobjects toLinearIOSystems, mimicking what is done with operator overloading.In addition, there was a bug where the
paramkeyword was not allowed in thedynamicsandoutputfunctions. This is now fixed and tested with a unit test.