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‎.coveragerc‎

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[run]
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source = control
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omit = control/tests/*
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relative_files = True
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[report]
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exclude_lines =

‎.github/workflows/control-slycot-src.yml‎

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name: Slycot from source
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on: [push, pull_request]
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jobs:
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build-linux:
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v2
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- name: Set up Python
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uses: actions/setup-python@v2
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- name: Install Python dependencies
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run: |
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# Set up conda
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echo $CONDA/bin >> $GITHUB_PATH
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# Set up (virtual) X11
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sudo apt install -y xvfb
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# Install test tools
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conda install pip pytest
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# Install python-control dependencies
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conda install numpy matplotlib scipy
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- name: Install slycot from source
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run: |
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# Install compilers, libraries, and development environment
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sudo apt-get -y install gfortran cmake --fix-missing
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sudo apt-get -y install libblas-dev liblapack-dev
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conda install -c conda-forge scikit-build;
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# Compile and install slycot
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git clone https://github.com/python-control/Slycot.git slycot
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cd slycot; python setup.py build_ext install -DBLA_VENDOR=Generic
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- name: Test with pytest
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run: xvfb-run --auto-servernum pytest control/tests

‎.github/workflows/python-package-conda.yml‎

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name: Conda-based pytest
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on: [push, pull_request]
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jobs:
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test-linux:
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name: Python ${{ matrix.python-version }}${{ matrix.slycot && format(' with Slycot from {0}', matrix.slycot) || ' without Slycot' }}${{ matrix.array-and-matrix == 1 && ', array and matrix' || '' }}
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runs-on: ubuntu-latest
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strategy:
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max-parallel: 5
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matrix:
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python-version: [3.6, 3.9]
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slycot: ["", "conda"]
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array-and-matrix: [0]
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include:
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- python-version: 3.9
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slycot: conda
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array-and-matrix: 1
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steps:
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- uses: actions/checkout@v2
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- name: Install dependencies
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run: |
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# Set up conda
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echo $CONDA/bin >> $GITHUB_PATH
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conda create -q -n test-environment python=${{matrix.python-version}}
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source $CONDA/bin/activate test-environment
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# Set up (virtual) X11
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sudo apt install -y xvfb
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# Install test tools
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conda install pip coverage pytest
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pip install coveralls
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# Install python-control dependencies
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conda install numpy matplotlib scipy
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if [[ '${{matrix.slycot}}' == 'conda' ]]; then
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conda install -c conda-forge slycot
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fi
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- name: Test with pytest
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env:
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PYTHON_CONTROL_ARRAY_AND_MATRIX: ${{ matrix.array-and-matrix }}
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run: |
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source $CONDA/bin/activate test-environment
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# Use xvfb-run instead of pytest-xvfb to get proper mpl backend
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# Use coverage instead of pytest-cov to get .coverage file
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# See https://github.com/python-control/python-control/pull/504
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xvfb-run --auto-servernum coverage run -m pytest control/tests
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- name: Coveralls parallel
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# https://github.com/coverallsapp/github-action
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uses: AndreMiras/coveralls-python-action@develop
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with:
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parallel: true
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coveralls:
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name: coveralls completion
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needs: test-linux
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runs-on: ubuntu-latest
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steps:
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- name: Coveralls Finished
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uses: AndreMiras/coveralls-python-action@develop
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with:
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parallel-finished: true

‎.travis.yml‎

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- $HOME/.cache/pip
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- $HOME/.local
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# Test against earliest supported (Python 3) release and latest stable release
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python:
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- "3.7"
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- "3.9"
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- "3.6"
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- "2.7"
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# Test against multiple version of SciPy, with and without slycot
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#
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# Because there were significant changes in SciPy between v0 and v1, we
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# test against both of these using the Travis CI environment capability
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#
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# We also want to test with and without slycot
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env:
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- SCIPY=scipy SLYCOT=conda # default, with slycot via conda
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- SCIPY=scipy SLYCOT= # default, w/out slycot
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- SCIPY="scipy==0.19.1" SLYCOT= # legacy support, w/out slycot
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# Add optional builds that test against latest version of slycot, python
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jobs:
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include:
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- name: "linux, Python 2.7, slycot=source"
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os: linux
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dist: xenial
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services: xvfb
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- name: "Python 3.9, slycot=source, array and matrix"
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python: "3.9"
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env: SCIPY=scipy SLYCOT=source PYTHON_CONTROL_ARRAY_AND_MATRIX=1
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# Because there were significant changes in SciPy between v0 and v1, we
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# also test against the latest v0 (without Slycot) for old pythons.
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# newer pythons should always use newer SciPy.
33+
- name: "Python 2.7, Scipy 0.19.1"
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python: "2.7"
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env: SCIPY=scipy SLYCOT=source
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- name: "linux, Python 3.7, slycot=source"
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os: linux
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dist: xenial
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services: xvfb
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python: "3.7"
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env: SCIPY=scipy SLYCOT=source
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- name: "linux, Python 3.8, slycot=source"
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os: linux
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dist: xenial
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services: xvfb
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python: "3.8"
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env: SCIPY=scipy SLYCOT=source
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- name: "use numpy matrix"
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dist: xenial
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services: xvfb
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python: "3.8"
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env: SCIPY=scipy SLYCOT=source PYTHON_CONTROL_STATESPACE_ARRAY=1
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# Exclude combinations that are very unlikely (and don't work)
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exclude:
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- python: "3.7" # python3.7 should use latest scipy
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env: SCIPY="scipy==0.19.1" SLYCOT=
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- name: "Python 3.6, Scipy 0.19.1"
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python: "3.6"
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env: SCIPY="scipy==0.19.1" SLYCOT=
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allow_failures:
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- name: "linux, Python 2.7, slycot=source"
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os: linux
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dist: xenial
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services: xvfb
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python: "2.7"
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env: SCIPY=scipy SLYCOT=source
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- name: "linux, Python 3.7, slycot=source"
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os: linux
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dist: xenial
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services: xvfb
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python: "3.7"
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env: SCIPY=scipy SLYCOT=source
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- name: "linux, Python 3.8, slycot=source"
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os: linux
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dist: xenial
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services: xvfb
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python: "3.8"
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env: SCIPY=scipy SLYCOT=source
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- env: SCIPY=scipy SLYCOT=source
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- env: SCIPY=scipy SLYCOT=source PYTHON_CONTROL_ARRAY_AND_MATRIX=1
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# install required system libraries
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before_install:

‎README.rst‎

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.. _pull request: https://github.com/python-control/python-control/pulls
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Please see the `Developer's Wiki`_ for detailed instructions.
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.. _Developer's Wiki: https://github.com/python-control/python-control/wiki
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‎control/bdalg.py‎

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@@ -76,7 +76,7 @@ def series(sys1, *sysn):
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Raises
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------
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ValueError
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if `sys2.inputs` does not equal `sys1.outputs`
79+
if `sys2.ninputs` does not equal `sys1.noutputs`
8080
if `sys1.dt` is not compatible with `sys2.dt`
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See Also
@@ -242,9 +242,9 @@ def feedback(sys1, sys2=1, sign=-1):
242242
if isinstance(sys2, tf.TransferFunction):
243243
sys1 = tf._convert_to_transfer_function(sys1)
244244
elif isinstance(sys2, ss.StateSpace):
245-
sys1 = ss._convertToStateSpace(sys1)
245+
sys1 = ss._convert_to_statespace(sys1)
246246
elif isinstance(sys2, frd.FRD):
247-
sys1 = frd._convertToFRD(sys1, sys2.omega)
247+
sys1 = frd._convert_to_FRD(sys1, sys2.omega)
248248
else: # sys2 is a scalar.
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sys1 = tf._convert_to_transfer_function(sys1)
250250
sys2 = tf._convert_to_transfer_function(sys2)
@@ -302,14 +302,16 @@ def connect(sys, Q, inputv, outputv):
302302
sys : StateSpace Transferfunction
303303
System to be connected
304304
Q : 2D array
305-
Interconnection matrix. First column gives the input to be connected
306-
second column gives the output to be fed into this input. Negative
307-
values for the second column mean the feedback is negative, 0 means
308-
no connection is made. Inputs and outputs are indexed starting at 1.
305+
Interconnection matrix. First column gives the input to be connected.
306+
The second column gives the index of an output that is to be fed into
307+
that input. Each additional column gives the index of an additional
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input that may be optionally added to that input. Negative
309+
values mean the feedback is negative. A zero value is ignored. Inputs
310+
and outputs are indexed starting at 1 to communicate sign information.
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inputv : 1D array
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list of final external inputs
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list of final external inputs, indexed starting at 1
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outputv : 1D array
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list of final external outputs
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list of final external outputs, indexed starting at 1
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314316
Returns
315317
-------
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>>> Q = [[1, 2], [2, -1]] # negative feedback interconnection
325327
>>> sysc = connect(sys, Q, [2], [1, 2])
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329+
Notes
330+
-----
331+
The :func:`~control.interconnect` function in the
332+
:ref:`input/output systems <iosys-module>` module allows the use
333+
of named signals and provides an alternative method for
334+
interconnecting multiple systems.
335+
327336
"""
337+
inputv, outputv, Q = np.asarray(inputv), np.asarray(outputv), np.asarray(Q)
338+
# check indices
339+
index_errors = (inputv - 1 > sys.ninputs) | (inputv < 1)
340+
if np.any(index_errors):
341+
raise IndexError(
342+
"inputv index %s out of bounds" % inputv[np.where(index_errors)])
343+
index_errors = (outputv - 1 > sys.noutputs) | (outputv < 1)
344+
if np.any(index_errors):
345+
raise IndexError(
346+
"outputv index %s out of bounds" % outputv[np.where(index_errors)])
347+
index_errors = (Q[:,0:1] - 1 > sys.ninputs) | (Q[:,0:1] < 1)
348+
if np.any(index_errors):
349+
raise IndexError(
350+
"Q input index %s out of bounds" % Q[np.where(index_errors)])
351+
index_errors = (np.abs(Q[:,1:]) - 1 > sys.noutputs)
352+
if np.any(index_errors):
353+
raise IndexError(
354+
"Q output index %s out of bounds" % Q[np.where(index_errors)])
355+
328356
# first connect
329-
K = np.zeros((sys.inputs, sys.outputs))
357+
K = np.zeros((sys.ninputs, sys.noutputs))
330358
for r in np.array(Q).astype(int):
331359
inp = r[0]-1
332360
for outp in r[1:]:
333-
if outp > 0 and outp <= sys.outputs:
334-
K[inp,outp-1] = 1.
335-
elif outp < 0 and -outp >= -sys.outputs:
361+
if outp < 0:
336362
K[inp,-outp-1] = -1.
363+
elif outp > 0:
364+
K[inp,outp-1] = 1.
337365
sys = sys.feedback(np.array(K), sign=1)
338366

339367
# now trim
340-
Ytrim = np.zeros((len(outputv), sys.outputs))
341-
Utrim = np.zeros((sys.inputs, len(inputv)))
368+
Ytrim = np.zeros((len(outputv), sys.noutputs))
369+
Utrim = np.zeros((sys.ninputs, len(inputv)))
342370
for i,u in enumerate(inputv):
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Utrim[u-1,i] = 1.
344372
for i,y in enumerate(outputv):

‎control/bench/time_freqresp.py‎

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sys_tf = tf(sys)
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w = logspace(-1,1,50)
1010
ntimes = 1000
11-
time_ss = timeit("sys.freqresp(w)", setup="from __main__ import sys, w", number=ntimes)
12-
time_tf = timeit("sys_tf.freqresp(w)", setup="from __main__ import sys_tf, w", number=ntimes)
11+
time_ss = timeit("sys.freqquency_response(w)", setup="from __main__ import sys, w", number=ntimes)
12+
time_tf = timeit("sys_tf.frequency_response(w)", setup="from __main__ import sys_tf, w", number=ntimes)
1313
print("State-space model on %d states: %f" % (nstates, time_ss))
1414
print("Transfer-function model on %d states: %f" % (nstates, time_tf))

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