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Commita9a6226

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update params docstrings + warnings per@sawyerbfuller suggestion
1 parent878cf98 commita9a6226

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3 files changed

+22
-4
lines changed

3 files changed

+22
-4
lines changed

‎control/iosys.py

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -376,12 +376,12 @@ def dynamics(self, t, x, u, params=None):
376376
right hand side of the dynamical system. If the system is continuous,
377377
returns the time derivative
378378
379-
dx/dt = f(t, x, u, params)
379+
dx/dt = f(t, x, u[, params])
380380
381381
where `f` is the system's (possibly nonlinear) dynamics function.
382382
If the system is discrete-time, returns the next value of `x`:
383383
384-
x[t+dt] = f(t, x[t], u[t], params)
384+
x[t+dt] = f(t, x[t], u[t][, params])
385385
386386
where `t` is a scalar.
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‎control/statesp.py

Lines changed: 8 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1389,7 +1389,7 @@ def dcgain(self, warn_infinite=False):
13891389
"""
13901390
returnself._dcgain(warn_infinite)
13911391

1392-
defdynamics(self,t,x,u=None):
1392+
defdynamics(self,t,x,u=None,params=None):
13931393
"""Compute the dynamics of the system
13941394
13951395
Given input `u` and state `x`, returns the dynamics of the state-space
@@ -1423,6 +1423,9 @@ def dynamics(self, t, x, u=None):
14231423
dx/dt or x[t+dt] : ndarray
14241424
14251425
"""
1426+
ifparamsisnotNone:
1427+
warn("params keyword ignored for StateSpace object")
1428+
14261429
x=np.reshape(x, (-1,1))# force to a column in case matrix
14271430
ifnp.size(x)!=self.nstates:
14281431
raiseValueError("len(x) must be equal to number of states")
@@ -1435,7 +1438,7 @@ def dynamics(self, t, x, u=None):
14351438
return (self.A @x).reshape((-1,)) \
14361439
+ (self.B @u).reshape((-1,))# return as row vector
14371440

1438-
defoutput(self,t,x,u=None):
1441+
defoutput(self,t,x,u=None,params=None):
14391442
"""Compute the output of the system
14401443
14411444
Given input `u` and state `x`, returns the output `y` of the
@@ -1465,6 +1468,9 @@ def output(self, t, x, u=None):
14651468
-------
14661469
y : ndarray
14671470
"""
1471+
ifparamsisnotNone:
1472+
warn("params keyword ignored for StateSpace object")
1473+
14681474
x=np.reshape(x, (-1,1))# force to a column in case matrix
14691475
ifnp.size(x)!=self.nstates:
14701476
raiseValueError("len(x) must be equal to number of states")

‎control/tests/statesp_test.py

Lines changed: 12 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -1158,3 +1158,15 @@ def test_linfnorm_ct_mimo(self, ct_siso):
11581158
gpeak,fpeak=linfnorm(sys)
11591159
np.testing.assert_allclose(gpeak,refgpeak)
11601160
np.testing.assert_allclose(fpeak,reffpeak)
1161+
1162+
1163+
# Make sure that using params for StateSpace objects generates a warning
1164+
deftest_params_warning():
1165+
sys=StateSpace(-1,1,1,0)
1166+
1167+
withpytest.warns(UserWarning,match="params keyword ignored"):
1168+
sys.dynamics(0, [0], [0], {'k':5})
1169+
1170+
withpytest.warns(UserWarning,match="params keyword ignored"):
1171+
sys.output(0, [0], [0], {'k':5})
1172+

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