Small fixes based on Caltech CDS 112 course #849
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Jan 14, 2023
bnavigator
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Jan 15, 2023
| type : 'linear' or 'nonlinear', optional | ||
| controller_type : 'linear' or 'nonlinear', optional |
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That's an API change. The milestone should be 0.10.0 (or 1.0.0) then.
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I put in code to handle legacy calls, so type will still work. See line 732.
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Rebased onto current main, in order to resolve conflicts due to #857 |
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This PR contains some small fixes that I discovered while teaching CDS 112 at Caltech in Winter 2023:
create_statefbk_iosystemthat didn't proper handle 1D gain schedules.flatsys.point_to_pointgenerates an error if you specify a cost or constraint with less than 3 time points.LinearIOSystemreturns aLinearIOSystem(before it returned aStateSpacesystem).add_unusedkeyword parameter tointerconnectthat allows unused inputs or outputs to be added as inputs or outputs of the interconnected system (useful for doing a "partial" interconnection).create_mpc_iosystemnow allows system and signal names to be specified via appropriate keywords.typekeyword forcreate_statefbk_iosystemtocontroller_type(linear or nonlinear). Usingtypegenerates a deprecation warning.control_indicesandstate_indicestocreate_statefbk_iosystemto allow partial interconnection (eg, for inner/outer loop construction).