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FIX: bdalg.series should reverse order of arguments in product #186

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Merged
murrayrm merged 1 commit into from
Jan 13, 2018
Merged

FIX: bdalg.series should reverse order of arguments in product #186

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6 changes: 3 additions & 3 deletions control/bdalg.py
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Original file line number Diff line number Diff line change
Expand Up @@ -67,7 +67,7 @@ def series(sys1, *sysn):
Parameters
----------
sys1: scalar, StateSpace, TransferFunction, or FRD
*sysn: other scalers, StateSpaces, TransferFunctions, or FRDs
*sysn: other scalars, StateSpaces, TransferFunctions, or FRDs

Returns
-------
Expand Down Expand Up @@ -103,7 +103,7 @@ def series(sys1, *sysn):

"""
from functools import reduce
return reduce(lambda x, y:x*y, sysn, sys1)
return reduce(lambda x, y:y*x, sysn, sys1)

def parallel(sys1, *sysn):
"""
Expand All @@ -112,7 +112,7 @@ def parallel(sys1, *sysn):
Parameters
----------
sys1: scalar, StateSpace, TransferFunction, or FRD
*sysn: other scalers, StateSpaces, TransferFunctions, or FRDs
*sysn: other scalars, StateSpaces, TransferFunctions, or FRDs

Returns
-------
Expand Down
17 changes: 17 additions & 0 deletions control/tests/bdalg_test.py
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Expand Up @@ -237,6 +237,23 @@ def testLists(self):
np.testing.assert_array_almost_equal(sort(zero(sys1_5)),
sort(zero(sys1 + sys2 +
sys3 + sys4 + sys5)))
def testMimoSeries(self):
"""regression: bdalg.series reverses order of arguments"""
g1 = ctrl.ss([],[],[],[[1,2],[0,3]])
g2 = ctrl.ss([],[],[],[[1,0],[2,3]])
ref = g2*g1
tst = ctrl.series(g1,g2)
# assert_array_equal on mismatched matrices gives
# "repr failed for <matrix>: ..."
def assert_equal(x,y):
np.testing.assert_array_equal(np.asarray(x),
np.asarray(y))
assert_equal(ref.A, tst.A)
assert_equal(ref.B, tst.B)
assert_equal(ref.C, tst.C)
assert_equal(ref.D, tst.D)


def suite():
return unittest.TestLoader().loadTestsFromTestCase(TestFeedback)

Expand Down