Nov 24, 2024 · Nov 21, 2024 · Nov 22, 2024
diff --git a/control/frdata.py b/control/frdata.py
        To construct frequency response data for an existing LTI
        object, other than an FRD, call FRD(sys, omega).

        The timebase for the frequency response can be provided using an
        optional third argument or the 'dt' keyword.

        """
        # TODO: discrete-time FRD systems?
        smooth = kwargs.pop('smooth', False)

        #
        # Process positional arguments
        #
        if len(args) == 3:
            # Discrete time transfer function
            dt = args[-1]
            if 'dt' in kwargs:
                warn("received multiple dt arguments, "
                     "using positional arg dt = %s" % dt)
            kwargs['dt'] = dt
            args = args[:-1]

        if len(args) == 2:
            if not isinstance(args[0], FRD) and isinstance(args[0], LTI):
                # not an FRD, but still a system, second argument should be

        # Process iosys keywords
        defaults = {
            'inputs': self.fresp.shape[1], 'outputs': self.fresp.shape[0],
            'dt': None}
            'inputs': self.fresp.shape[1], 'outputs': self.fresp.shape[0]}
        if arg_dt is not None:
            defaults['dt'] = arg_dt             # choose compatible timebase
        name, inputs, outputs, states, dt = _process_iosys_keywords(
                kwargs, defaults, end=True)
        dt = common_timebase(dt, arg_dt)        # choose compatible timebase

        # Process signal names
        InputOutputSystem.__init__(
diff --git a/control/tests/docstrings_test.py b/control/tests/docstrings_test.py
    control.bode_plot: ['sharex', 'sharey', 'margin_info'], # deprecated
    control.eigensys_realization: ['arg'],                  # quasi-positional
    control.find_operating_point: ['method'],               # internal use
    control.zpk: ['args']                                   # 'dt' (manual)
 }

 # Decide on the level of verbosity (use -rP when running pytest)
diff --git a/control/tests/timebase_test.py b/control/tests/timebase_test.py
        with pytest.raises(ValueError, match="incompatible timebases"):
            sys3 = ct.interconnect(
                [sys1, sys2], inputs='u1', outputs='y2', dt=dt)


 # Make sure all system creation functions treat timebases uniformly
 @pytest.mark.parametrize(
    "fcn, args", [
        (ct.ss, [-1, 1, 1, 1]),
        (ct.tf, [[1, 2], [3, 4, 5]]),
        (ct.zpk, [[-1], [-2, -3], 1]),
        (ct.frd, [[1, 1, 1], [1, 2, 3]]),
        (ct.nlsys, [lambda t, x, u, params: -x, None]),
    ])
 @pytest.mark.parametrize(
    "kwargs, expected", [
        ({}, 0),
        ({'dt': 0}, 0),
        ({'dt': 0.1}, 0.1),
        ({'dt': True}, True),
        ({'dt': None}, None),
    ])
 def test_default(fcn, args, kwargs, expected):
    sys = fcn(*args, **kwargs)
    assert sys.dt == expected

    # Some commands allow dt via extra argument
    if fcn in [ct.ss, ct.tf, ct.zpk, ct.frd] and kwargs.get('dt'):
        sys = fcn(*args, kwargs['dt'])
        assert sys.dt == expected

        # Make sure an error is generated if dt is redundant
        with pytest.warns(UserWarning, match="received multiple dt"):
            sys = fcn(*args, kwargs['dt'], **kwargs)
diff --git a/control/xferfcn.py b/control/xferfcn.py
        raise ValueError("Needs 1 or 2 arguments; received %i." % len(args))


 def zpk(zeros, poles, gain,dt=None, **kwargs):
 def zpk(zeros, poles, gain,*args, **kwargs):
    """zpk(zeros, poles, gain[, dt])

    Create a transfer function from zeros, poles, gain.

    """
    num, den = zpk2tf(zeros, poles, gain)
    return TransferFunction(num, den,dt=dt, **kwargs)
    return TransferFunction(num, den,*args, **kwargs)


 def ss2tf(*args, **kwargs):
Original file line number	Diff line number	Diff line change
Expand Up		@@ -124,13 +124,24 @@ def __init__(self, args, *kwargs):
		To construct frequency response data for an existing LTI
		object, other than an FRD, call FRD(sys, omega).

		The timebase for the frequency response can be provided using an
		optional third argument or the 'dt' keyword.

		"""
		# TODO: discrete-time FRD systems?
		smooth = kwargs.pop('smooth', False)

		#
		# Process positional arguments
		#
		if len(args) == 3:
		# Discrete time transfer function
		dt = args[-1]
		if 'dt' in kwargs:
		warn("received multiple dt arguments, "
		"using positional arg dt = %s" % dt)
		kwargs['dt'] = dt
		args = args[:-1]

		if len(args) == 2:
		if not isinstance(args[0], FRD) and isinstance(args[0], LTI):
		# not an FRD, but still a system, second argument should be
Expand DownExpand Up		@@ -200,11 +211,11 @@ def __init__(self, args, *kwargs):

		# Process iosys keywords
		defaults = {
		'inputs': self.fresp.shape[1], 'outputs': self.fresp.shape[0],
		'dt': None}
		'inputs': self.fresp.shape[1], 'outputs': self.fresp.shape[0]}
		if arg_dt is not None:
		defaults['dt'] = arg_dt # choose compatible timebase
		name, inputs, outputs, states, dt = _process_iosys_keywords(
		kwargs, defaults, end=True)
		dt = common_timebase(dt, arg_dt) # choose compatible timebase

		# Process signal names
		InputOutputSystem.__init__(
Expand Down
Original file line number	Diff line number	Diff line change
Expand Up		@@ -54,6 +54,7 @@
		control.bode_plot: ['sharex', 'sharey', 'margin_info'], # deprecated
		control.eigensys_realization: ['arg'], # quasi-positional
		control.find_operating_point: ['method'], # internal use
		control.zpk: ['args'] # 'dt' (manual)
		}

		# Decide on the level of verbosity (use -rP when running pytest)
Expand Down
Original file line number	Diff line number	Diff line change
Expand Up		@@ -97,3 +97,34 @@ def test_composition_override(dt):
		with pytest.raises(ValueError, match="incompatible timebases"):
		sys3 = ct.interconnect(
		[sys1, sys2], inputs='u1', outputs='y2', dt=dt)


		# Make sure all system creation functions treat timebases uniformly
		@pytest.mark.parametrize(
		"fcn, args", [
		(ct.ss, [-1, 1, 1, 1]),
		(ct.tf, [[1, 2], [3, 4, 5]]),
		(ct.zpk, [[-1], [-2, -3], 1]),
		(ct.frd, [[1, 1, 1], [1, 2, 3]]),
		(ct.nlsys, [lambda t, x, u, params: -x, None]),
		])
		@pytest.mark.parametrize(
		"kwargs, expected", [
		({}, 0),
		({'dt': 0}, 0),
		({'dt': 0.1}, 0.1),
		({'dt': True}, True),
		({'dt': None}, None),
		])
		def test_default(fcn, args, kwargs, expected):
		sys = fcn(args, *kwargs)
		assert sys.dt == expected

		# Some commands allow dt via extra argument
		if fcn in [ct.ss, ct.tf, ct.zpk, ct.frd] and kwargs.get('dt'):
		sys = fcn(*args, kwargs['dt'])
		assert sys.dt == expected

		# Make sure an error is generated if dt is redundant
		with pytest.warns(UserWarning, match="received multiple dt"):
		sys = fcn(args, kwargs['dt'], *kwargs)
Original file line number	Diff line number	Diff line change
Expand Up		@@ -1677,7 +1677,7 @@ def tf(args, *kwargs):
		raise ValueError("Needs 1 or 2 arguments; received %i." % len(args))


		def zpk(zeros, poles, gain,dt=None, **kwargs):
		def zpk(zeros, poles, gain,args, *kwargs):
		"""zpk(zeros, poles, gain[, dt])

		Create a transfer function from zeros, poles, gain.
Expand DownExpand Up		@@ -1732,7 +1732,7 @@ def zpk(zeros, poles, gain, dt=None, **kwargs):

		"""
		num, den = zpk2tf(zeros, poles, gain)
		return TransferFunction(num, den,dt=dt, **kwargs)
		return TransferFunction(num, den,args, *kwargs)


		def ss2tf(args, *kwargs):
Expand Down