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Commit8b6d041

Browse files
authored
fix issue with multiplying MIMO LTI system by scalar (#1078)
1 parente2c0ff8 commit8b6d041

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3 files changed

+39
-11
lines changed

3 files changed

+39
-11
lines changed

‎control/frdata.py‎

Lines changed: 13 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -261,14 +261,20 @@ def __init__(self, *args, **kwargs):
261261

262262
# create interpolation functions
263263
ifsmooth:
264+
# Set the order of the fit
265+
ifself.omega.size<2:
266+
raiseValueError("can't smooth with only 1 frequency")
267+
degree=3ifself.omega.size>3elseself.omega.size-1
268+
264269
self.ifunc=empty((self.fresp.shape[0],self.fresp.shape[1]),
265270
dtype=tuple)
266271
foriinrange(self.fresp.shape[0]):
267272
forjinrange(self.fresp.shape[1]):
268273
self.ifunc[i,j],u=splprep(
269274
u=self.omega,x=[real(self.fresp[i,j, :]),
270275
imag(self.fresp[i,j, :])],
271-
w=1.0/(absolute(self.fresp[i,j, :])+0.001),s=0.0)
276+
w=1.0/(absolute(self.fresp[i,j, :])+0.001),
277+
s=0.0,k=degree)
272278
else:
273279
self.ifunc=None
274280

@@ -392,7 +398,12 @@ def __add__(self, other):
392398

393399
# Convert the second argument to a frequency response function.
394400
# or re-base the frd to the current omega (if needed)
395-
other=_convert_to_frd(other,omega=self.omega)
401+
ifisinstance(other, (int,float,complex,np.number)):
402+
other=_convert_to_frd(
403+
other,omega=self.omega,
404+
inputs=self.ninputs,outputs=self.noutputs)
405+
else:
406+
other=_convert_to_frd(other,omega=self.omega)
396407

397408
# Check that the input-output sizes are consistent.
398409
ifself.ninputs!=other.ninputs:

‎control/tests/lti_test.py‎

Lines changed: 18 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -350,3 +350,21 @@ def test_subsys_indexing(fcn, outdx, inpdx, key):
350350
np.testing.assert_almost_equal(
351351
subsys_fcn.frequency_response(omega).response,
352352
subsys_chk.frequency_response(omega).response)
353+
354+
355+
@slycotonly
356+
@pytest.mark.parametrize("op", [
357+
'__mul__','__rmul__','__add__','__radd__','__sub__','__rsub__'])
358+
@pytest.mark.parametrize("fcn", [ct.ss,ct.tf,ct.frd])
359+
deftest_scalar_algebra(op,fcn):
360+
sys_ss=ct.rss(4,2,2)
361+
matchfcn:
362+
casect.ss:
363+
sys=sys_ss
364+
casect.tf:
365+
sys=ct.tf(sys_ss)
366+
casect.frd:
367+
sys=ct.frd(sys_ss, [0.1,1,10])
368+
369+
scaled=getattr(sys,op)(2)
370+
np.testing.assert_almost_equal(getattr(sys(1j),op)(2),scaled(1j))

‎control/xferfcn.py‎

Lines changed: 8 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -634,11 +634,11 @@ def __mul__(self, other):
634634
from .statespimportStateSpace
635635

636636
# Convert the second argument to a transfer function.
637-
ifisinstance(other,StateSpace):
637+
ifisinstance(other,(StateSpace,np.ndarray)):
638638
other=_convert_to_transfer_function(other)
639-
elifisinstance(other, (int,float,complex,np.number,np.ndarray)):
640-
other=_convert_to_transfer_function(other,inputs=self.ninputs,
641-
outputs=self.noutputs)
639+
elifisinstance(other, (int,float,complex,np.number)):
640+
# Multiply by a scaled identity matrix (transfer function)
641+
other=_convert_to_transfer_function(np.eye(self.ninputs)*other)
642642
ifnotisinstance(other,TransferFunction):
643643
returnNotImplemented
644644

@@ -681,8 +681,8 @@ def __rmul__(self, other):
681681

682682
# Convert the second argument to a transfer function.
683683
ifisinstance(other, (int,float,complex,np.number)):
684-
other=_convert_to_transfer_function(other,inputs=self.ninputs,
685-
outputs=self.ninputs)
684+
# Multiply by a scaled identity matrix (transfer function)
685+
other=_convert_to_transfer_function(np.eye(self.noutputs)*other)
686686
else:
687687
other=_convert_to_transfer_function(other)
688688

@@ -723,9 +723,8 @@ def __truediv__(self, other):
723723
"""Divide two LTI objects."""
724724

725725
ifisinstance(other, (int,float,complex,np.number)):
726-
other=_convert_to_transfer_function(
727-
other,inputs=self.ninputs,
728-
outputs=self.ninputs)
726+
# Multiply by a scaled identity matrix (transfer function)
727+
other=_convert_to_transfer_function(np.eye(self.ninputs)*other)
729728
else:
730729
other=_convert_to_transfer_function(other)
731730

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