@@ -68,8 +68,13 @@ def test_interconnect_implicit():
6868ki = ct .tf (random .uniform (1 ,10 ), [1 ,0 ])
6969C = ct .tf2io (kp + ki ,inputs = 'e' ,outputs = 'u' ,name = 'C' )
7070
71+ # same but static C2
72+ C2 = ct .tf (random .uniform (1 ,10 ),1 ,
73+ inputs = 'e' ,outputs = 'u' ,name = 'C2' )
74+
7175# Block diagram computation
7276Tss = ct .feedback (P * C ,1 )
77+ Tss2 = ct .feedback (P * C2 ,1 )
7378
7479# Construct the interconnection explicitly
7580Tio_exp = ct .interconnect (
@@ -93,6 +98,15 @@ def test_interconnect_implicit():
9398np .testing .assert_almost_equal (Tio_sum .C ,Tss .C )
9499np .testing .assert_almost_equal (Tio_sum .D ,Tss .D )
95100
101+ # test whether signal names work for static system C2
102+ Tio_sum2 = ct .interconnect (
103+ [C2 ,P ,sumblk ],inputs = 'r' ,outputs = 'y' )
104+
105+ np .testing .assert_almost_equal (Tio_sum2 .A ,Tss2 .A )
106+ np .testing .assert_almost_equal (Tio_sum2 .B ,Tss2 .B )
107+ np .testing .assert_almost_equal (Tio_sum2 .C ,Tss2 .C )
108+ np .testing .assert_almost_equal (Tio_sum2 .D ,Tss2 .D )
109+
96110# Setting connections to False should lead to an empty connection map
97111empty = ct .interconnect (
98112 (C ,P ,sumblk ),connections = False ,inplist = ['r' ],outlist = ['y' ])
@@ -237,17 +251,17 @@ def test_linear_interconnect():
237251ss_ctrl = ct .ss (1 ,2 ,1 ,2 ,inputs = 'e' ,outputs = 'u' )
238252ss_plant = ct .ss (1 ,2 ,1 ,2 ,inputs = 'u' ,outputs = 'y' )
239253nl_ctrl = ct .NonlinearIOSystem (
240- lambda t ,x ,u ,params :x * x ,
254+ lambda t ,x ,u ,params :x * x ,
241255lambda t ,x ,u ,params :u * x ,states = 1 ,inputs = 'e' ,outputs = 'u' )
242256nl_plant = ct .NonlinearIOSystem (
243- lambda t ,x ,u ,params :x * x ,
257+ lambda t ,x ,u ,params :x * x ,
244258lambda t ,x ,u ,params :u * x ,states = 1 ,inputs = 'u' ,outputs = 'y' )
245259
246260assert isinstance (ct .interconnect ((tf_ctrl ,tf_plant ),inputs = 'e' ,outputs = 'y' ),ct .LinearIOSystem )
247261assert isinstance (ct .interconnect ((ss_ctrl ,ss_plant ),inputs = 'e' ,outputs = 'y' ),ct .LinearIOSystem )
248262assert isinstance (ct .interconnect ((tf_ctrl ,ss_plant ),inputs = 'e' ,outputs = 'y' ),ct .LinearIOSystem )
249263assert isinstance (ct .interconnect ((ss_ctrl ,tf_plant ),inputs = 'e' ,outputs = 'y' ),ct .LinearIOSystem )
250-
264+
251265assert ~ isinstance (ct .interconnect ((nl_ctrl ,ss_plant ),inputs = 'e' ,outputs = 'y' ),ct .LinearIOSystem )
252266assert ~ isinstance (ct .interconnect ((nl_ctrl ,tf_plant ),inputs = 'e' ,outputs = 'y' ),ct .LinearIOSystem )
253267assert ~ isinstance (ct .interconnect ((ss_ctrl ,nl_plant ),inputs = 'e' ,outputs = 'y' ),ct .LinearIOSystem )