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Fix typo in ICSystem updfcn, outfcn: update_params -> _update_params #990

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Merged
merged 1 commit into from
Apr 8, 2024
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Fix typo in ICSystem updfcn, outfcn: update_params -> _update_params #990

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4 changes: 2 additions & 2 deletions control/nlsys.py
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Original file line number Diff line number Diff line change
Expand Up @@ -706,10 +706,10 @@ def __init__(self, syslist, connections=None, inplist=None, outlist=None,

# Create updfcn and outfcn
def updfcn(t, x, u, params):
self.update_params(params)
self._update_params(params)
return self._rhs(t, x, u)
def outfcn(t, x, u, params):
self.update_params(params)
self._update_params(params)
return self._out(t, x, u)

# Initialize NonlinearIOSystem object
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30 changes: 30 additions & 0 deletions control/tests/interconnect_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@

import numpy as np
import scipy as sp
import math

import control as ct

Expand Down Expand Up @@ -659,3 +660,32 @@ def test_interconnect_rewrite():
outputs=['y', 'z'])

assert icsys.input_labels == ['u[0]', 'u[1]', 'w[0]', 'w[1]']


def test_interconnect_params():
# Create a nominally unstable system
sys1 = ct.nlsys(
lambda t, x, u, params: params['a'] * x[0] + u[0],
states=1, inputs='u', outputs='y', params={'a': 1})

# Simple system for serial interconnection
sys2 = ct.nlsys(
None, lambda t, x, u, params: u[0],
inputs='r', outputs='u')

# Create a series interconnection
sys = ct.interconnect([sys1, sys2], inputs='r', outputs='y')

# Make sure we can call the update function
sys.updfcn(0, [0], [0], {})

# Make sure the serial interconnection is unstable to start
assert sys.linearize([0], [0]).poles()[0].real == 1

# Change the parameter and make sure it takes
assert sys.linearize([0], [0], params={'a': -1}).poles()[0].real == -1

# Now try running a simulation
timepts = np.linspace(0, 10)
resp = ct.input_output_response(sys, timepts, 0, params={'a': -1})
assert resp.states[0, -1].item() < 2 * math.exp(-10)
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