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Merged
merged 4 commits into from
Apr 21, 2024
Merged

Support NumPy 2 #994

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03df718
Replace np.NaN removed in numpy 2
bnavigator Apr 20, 2024
38188fb
Replace np.Inf removed in numpy 2
bnavigator Apr 20, 2024
0b5332b
replace deprecated numpy.linalg.linalg.LinAlgError with numpy.linalg.…
bnavigator Apr 20, 2024
ebb8a52
Replace deprecated numpy row_stack with vstack
bnavigator Apr 20, 2024
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4 changes: 2 additions & 2 deletions control/rlocus.py
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Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,7 @@
import matplotlib.pyplot as plt
import numpy as np
import scipy.signal # signal processing toolbox
from numpy import array, imag, poly1d, real, row_stack, zeros_like
from numpy import array, imag, poly1d, real, vstack, zeros_like

from . import config
from .exception import ControlMIMONotImplemented
Expand Down Expand Up @@ -421,7 +421,7 @@ def _RLFindRoots(nump, denp, kvect):
curroots.sort()
roots.append(curroots)

return row_stack(roots)
return vstack(roots)


def _RLSortRoots(roots):
Expand Down
30 changes: 16 additions & 14 deletions control/statesp.py
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Expand Up @@ -48,26 +48,27 @@
"""

import math
from copy import deepcopy
from warnings import warn

import numpy as np
from numpy import any, asarray, concatenate, cos, delete, \
empty, exp, eye, isinf, ones, pad, sin, zeros, squeeze
from numpy.random import rand, randn
from numpy.linalg import solve, eigvals, matrix_rank
from numpy.linalg.linalg import LinAlgError
import scipy as sp
import scipy.linalg
from scipy.signal import cont2discrete
from numpy import (any, asarray, concatenate, cos, delete, empty, exp, eye,
isinf, ones, pad, sin, squeeze, zeros)
from numpy.linalg import LinAlgError, eigvals, matrix_rank, solve
from numpy.random import rand, randn
from scipy.signal import StateSpace as signalStateSpace
from warnings import warn
from scipy.signal import cont2discrete

from .exception import ControlSlycot, slycot_check, ControlMIMONotImplemented
from . import config
from .exception import ControlMIMONotImplemented, ControlSlycot, slycot_check
from .frdata import FrequencyResponseData
from .iosys import (InputOutputSystem, _process_dt_keyword,
_process_iosys_keywords, _process_signal_list,
common_timebase, isdtime, issiso)
from .lti import LTI, _process_frequency_response
from .iosys import InputOutputSystem, common_timebase, isdtime, issiso, \
_process_iosys_keywords, _process_dt_keyword, _process_signal_list
from .nlsys import NonlinearIOSystem, InterconnectedSystem
from . import config
from copy import deepcopy
from .nlsys import InterconnectedSystem, NonlinearIOSystem

try:
from slycot import ab13dd
Expand Down Expand Up @@ -2221,9 +2222,10 @@ def _convert_to_statespace(sys, use_prefix_suffix=False, method=None):
by the calling function.

"""
from .xferfcn import TransferFunction
import itertools

from .xferfcn import TransferFunction

if isinstance(sys, StateSpace):
return sys

Expand Down
18 changes: 9 additions & 9 deletions control/tests/timeresp_test.py
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Expand Up @@ -173,15 +173,15 @@ def tsystem(self, request):
# System Type 1 - Step response not stationary: G(s)=1/s(s+1)
siso_tf_type1 = TSys(TransferFunction(1, [1, 1, 0]))
siso_tf_type1.step_info = {
'RiseTime': np.NaN,
'SettlingTime': np.NaN,
'SettlingMin': np.NaN,
'SettlingMax': np.NaN,
'Overshoot': np.NaN,
'Undershoot': np.NaN,
'Peak': np.Inf,
'PeakTime': np.Inf,
'SteadyStateValue': np.NaN}
'RiseTime': np.nan,
'SettlingTime': np.nan,
'SettlingMin': np.nan,
'SettlingMax': np.nan,
'Overshoot': np.nan,
'Undershoot': np.nan,
'Peak': np.inf,
'PeakTime': np.inf,
'SteadyStateValue': np.nan}

# SISO under shoot response and positive final value
# G(s)=(-s+1)/(s²+s+1)
Expand Down
18 changes: 9 additions & 9 deletions control/timeresp.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1590,15 +1590,15 @@ def step_info(sysdata, T=None, T_num=None, yfinal=None, params=None,
InfValue = InfValues[i, j]
sgnInf = np.sign(InfValue.real)

rise_time: float = np.NaN
settling_time: float = np.NaN
settling_min: float = np.NaN
settling_max: float = np.NaN
peak_value: float = np.Inf
peak_time: float = np.Inf
undershoot: float = np.NaN
overshoot: float = np.NaN
steady_state_value: complex = np.NaN
rise_time: float = np.nan
settling_time: float = np.nan
settling_min: float = np.nan
settling_max: float = np.nan
peak_value: float = np.inf
peak_time: float = np.inf
undershoot: float = np.nan
overshoot: float = np.nan
steady_state_value: complex = np.nan

if not np.isnan(InfValue) and not np.isinf(InfValue):
# RiseTime
Expand Down
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