Jan 2, 2018 · Dec 23, 2017 · Dec 30, 2017 · Dec 30, 2017
diff --git a/control/bdalg.py b/control/bdalg.py
 """

 import scipy as sp
 import numpy as np
 from . import xferfcn as tf
 from . import statesp as ss
 from . import frdata as frd
    """

    # Check for correct input types.
    if not isinstance(sys1, (int, float, complex,tf.TransferFunction,
                             ss.StateSpace, frd.FRD)):
    if not isinstance(sys1, (int, float, complex,np.number,
 tf.TransferFunction,ss.StateSpace, frd.FRD)):
        raise TypeError("sys1 must be a TransferFunction, StateSpace " +
                        "or FRD object, or a scalar.")
    if not isinstance(sys2, (int, float, complex,tf.TransferFunction,
                             ss.StateSpace, frd.FRD)):
    if not isinstance(sys2, (int, float, complex,np.number,
 tf.TransferFunction,ss.StateSpace, frd.FRD)):
        raise TypeError("sys2 must be a TransferFunction, StateSpace " +
                        "or FRD object, or a scalar.")

    # If sys1 is a scalar, convert it to the appropriate LTI type so that we can
    # its feedback member function.
    if isinstance(sys1, (int, float, complex)):
    if isinstance(sys1, (int, float, complex, np.number)):
        if isinstance(sys2, tf.TransferFunction):
            sys1 = tf._convertToTransferFunction(sys1)
        elif isinstance(sys2, ss.StateSpace):
diff --git a/control/frdata.py b/control/frdata.py
 """

 # External function declarations
 import numpy as np
 from numpy import angle, array, empty, ones, \
    real, imag, matrix, absolute, eye, linalg, where, dot
 from scipy.interpolate import splprep, splev
        """Multiply two LTI objects (serial connection)."""

        # Convert the second argument to a transfer function.
        if isinstance(other, (int, float, complex)):
        if isinstance(other, (int, float, complex, np.number)):
            return FRD(self.fresp * other, self.omega,
                       smooth=(self.ifunc is not None))
        else:
        """Right Multiply two LTI objects (serial connection)."""

        # Convert the second argument to an frd function.
        if isinstance(other, (int, float, complex)):
        if isinstance(other, (int, float, complex, np.number)):
            return FRD(self.fresp * other, self.omega,
                       smooth=(self.ifunc is not None))
        else:
    def __truediv__(self, other):
        """Divide two LTI objects."""

        if isinstance(other, (int, float, complex)):
        if isinstance(other, (int, float, complex, np.number)):
            return FRD(self.fresp * (1/other), self.omega,
                       smooth=(self.ifunc is not None))
        else:
    # TODO: Division of MIMO transfer function objects is not written yet.
    def __rtruediv__(self, other):
        """Right divide two LTI objects."""
        if isinstance(other, (int, float, complex)):
        if isinstance(other, (int, float, complex, np.number)):
            return FRD(other / self.fresp, self.omega,
                       smooth=(self.ifunc is not None))
        else:

        return FRD(fresp, omega, smooth=True)

    elif isinstance(sys, (int, float, complex)):
    elif isinstance(sys, (int, float, complex, np.number)):
        fresp = ones((outputs, inputs, len(omega)), dtype=float)*sys
        return FRD(fresp, omega, smooth=True)

diff --git a/control/lti.py b/control/lti.py
 timebaseEqual()
 """

 import numpy as np
 from numpy import absolute, real

 __all__ = ['issiso', 'timebase', 'timebaseEqual', 'isdtime', 'isctime',

 # Test to see if a system is SISO
 def issiso(sys, strict=False):
    if isinstance(sys, (int, float, complex)) and not strict:
    if isinstance(sys, (int, float, complex, np.number)) and not strict:
        return True
    elif not isinstance(sys, LTI):
        raise ValueError("Object is not an LTI system")
    set to False, dt = True will be returned as 1.
    """
    # System needs to be either a constant or an LTI system
    if isinstance(sys, (int, float, complex)):
    if isinstance(sys, (int, float, complex, np.number)):
        return None
    elif not isinstance(sys, LTI):
        raise ValueError("Timebase not defined")
    """

    # Check to see if this is a constant
    if isinstance(sys, (int, float, complex)):
    if isinstance(sys, (int, float, complex, np.number)):
        # OK as long as strict checking is off
        return True if not strict else False

    """

    # Check to see if this is a constant
    if isinstance(sys, (int, float, complex)):
    if isinstance(sys, (int, float, complex, np.number)):
        # OK as long as strict checking is off
        return True if not strict else False

diff --git a/control/statesp.py b/control/statesp.py
 from numpy.random import rand, randn
 from numpy.linalg import solve, eigvals, matrix_rank
 from numpy.linalg.linalg import LinAlgError
 import scipy as sp
 from scipy.signal import lti, cont2discrete
 # from exceptions import Exception
 import warnings
        """Add two LTI systems (parallel connection)."""

        # Check for a couple of special cases
        if (isinstance(other, (int, float, complex))):
        if (isinstance(other, (int, float, complex, np.number))):
            # Just adding a scalar; put it in the D matrix
            A, B, C = self.A, self.B, self.C;
            D = self.D + other;
        """Multiply two LTI objects (serial connection)."""

        # Check for a couple of special cases
        if isinstance(other, (int, float, complex)):
        if isinstance(other, (int, float, complex, np.number)):
            # Just multiplying by a scalar; change the output
            A, B = self.A, self.B
            C = self.C * other
        """Right multiply two LTI objects (serial connection)."""

        # Check for a couple of special cases
        if isinstance(other, (int, float, complex)):
        if isinstance(other, (int, float, complex, np.number)):
            # Just multiplying by a scalar; change the input
            A, C = self.A, self.C;
            B = self.B * other;
                # TODO: do we want to squeeze first and check dimenations?
                # I think this will fail if num and den aren't 1-D after
                # the squeeze
                lti_sys = lti(squeeze(sys.num), squeeze(sys.den))
                return StateSpace(lti_sys.A, lti_sys.B, lti_sys.C, lti_sys.D,
                                  sys.dt)
                A, B, C, D = sp.signal.tf2ss(squeeze(sys.num), squeeze(sys.den))
                return StateSpace(A, B, C, D, sys.dt)

    elif isinstance(sys, (int, float, complex)):
    elif isinstance(sys, (int, float, complex, np.number)):
        if "inputs" in kw:
            inputs = kw["inputs"]
        else:
diff --git a/control/xferfcn.py b/control/xferfcn.py
 """

 # External function declarations
 import numpy as np
 from numpy import angle, any, array, empty, finfo, insert, ndarray, ones, \
    polyadd, polymul, polyval, roots, sort, sqrt, zeros, squeeze, exp, pi, \
    where, delete, real, poly, poly1d
 importnumpy asnp
 importscipy assp
 from scipy.signal import lti, tf2zpk, zpk2tf, cont2discrete
 from copy import deepcopy
 from warnings import warn
        data = [num, den]
        for i in range(len(data)):
            # Check for a scalar (including 0d ndarray)
            if (isinstance(data[i], (int, float, complex)) or
            if (isinstance(data[i], (int, float, complex, np.number)) or
                (isinstance(data[i], ndarray) and data[i].ndim == 0)):
                # Convert scalar to list of list of array.
                if (isinstance(data[i], int)):
                else:
                    data[i] = [[array([data[i]])]]
            elif (isinstance(data[i], (list, tuple, ndarray)) and
                    isinstance(data[i][0], (int, float, complex))):
                    isinstance(data[i][0], (int, float, complex, np.number))):
                # Convert array to list of list of array.
                if (isinstance(data[i][0], int)):
                    # Convert integers to floats at this point
            elif (isinstance(data[i], list) and
                    isinstance(data[i][0], list) and
                    isinstance(data[i][0][0], (list, tuple, ndarray)) and
                    isinstance(data[i][0][0][0], (int, float, complex))):
                    isinstance(data[i][0][0][0], (int, float, complex,
                                                  np.number))):
                # We might already have the right format.  Convert the
                # coefficient vectors to arrays, if necessary.
                for j in range(len(data[i])):
    def __mul__(self, other):
        """Multiply two LTI objects (serial connection)."""
        # Convert the second argument to a transfer function.
        if isinstance(other, (int, float, complex)):
        if isinstance(other, (int, float, complex, np.number)):
            other = _convertToTransferFunction(other, inputs=self.inputs,
                                               outputs=self.inputs)
        else:
        """Right multiply two LTI objects (serial connection)."""

        # Convert the second argument to a transfer function.
        if isinstance(other, (int, float, complex)):
        if isinstance(other, (int, float, complex, np.number)):
            other = _convertToTransferFunction(other, inputs=self.inputs,
                                               outputs=self.inputs)
        else:
    def __truediv__(self, other):
        """Divide two LTI objects."""

        if isinstance(other, (int, float, complex)):
        if isinstance(other, (int, float, complex, np.number)):
            other = _convertToTransferFunction(
                other, inputs=self.inputs,
                outputs=self.inputs)
    # TODO: Division of MIMO transfer function objects is not written yet.
    def __rtruediv__(self, other):
        """Right divide two LTI objects."""
        if isinstance(other, (int, float, complex)):
        if isinstance(other, (int, float, complex, np.number)):
            other = _convertToTransferFunction(
                other, inputs=self.inputs,
                outputs=self.inputs)
                        # Each transfer function matrix row
                        # has a common denominator.
                        den[i][j] = list(tfout[5][i, :])
                # print(num)
                # print(den)

            except ImportError:
                # If slycot is not available, use signal.lti (SISO only)
                if (sys.inputs != 1 or sys.outputs != 1):
                    raise TypeError("No support for MIMO without slycot")

 lti_sys = lti(sys.A, sys.B, sys.C, sys.D)
 num = squeeze(lti_sys.num)
                den =squeeze(lti_sys.den)
 # print(num)
 # print(den)
 # Do the conversion using sp.signal.ss2tf
 # Note that this returns a 2D array for the numerator
 num,den =sp.signal.ss2tf(sys.A, sys.B, sys.C, sys.D)
 num = squeeze(num) # Convert to 1D array
 den = squeeze(den) # Probably not needed

        return TransferFunction(num, den, sys.dt)

    elif isinstance(sys, (int, float, complex)):
    elif isinstance(sys, (int, float, complex, np.number)):
        if "inputs" in kw:
            inputs = kw["inputs"]
        else:
Original file line number	Diff line number	Diff line change
Expand Up		@@ -54,6 +54,7 @@
		"""

		import scipy as sp
		import numpy as np
		from . import xferfcn as tf
		from . import statesp as ss
		from . import frdata as frd
Expand DownExpand Up		@@ -221,18 +222,18 @@ def feedback(sys1, sys2=1, sign=-1):
		"""

		# Check for correct input types.
		if not isinstance(sys1, (int, float, complex,tf.TransferFunction,
		ss.StateSpace, frd.FRD)):
		if not isinstance(sys1, (int, float, complex,np.number,
Copy link Contributor roryyorkeDec 30, 2017• edited Loading Choose a reason for hiding this comment The reason will be displayed to describe this comment to others.Learn more. I'm struggling to find docs on numpy.number; it has a`__doc__` string, but no entry, e.g., here:https://docs.scipy.org/doc/numpy-1.13.0/genindex.html . This use seems reasonable, just not sure how standard it is. Copy link MemberAuthor murrayrmDec 30, 2017 Choose a reason for hiding this comment The reason will be displayed to describe this comment to others.Learn more. Numpy scalar type hierarchy is here:https://docs.scipy.org/doc/numpy-1.13.0/reference/arrays.scalars.html
		tf.TransferFunction,ss.StateSpace, frd.FRD)):
		raise TypeError("sys1 must be a TransferFunction, StateSpace " +
		"or FRD object, or a scalar.")
		if not isinstance(sys2, (int, float, complex,tf.TransferFunction,
		ss.StateSpace, frd.FRD)):
		if not isinstance(sys2, (int, float, complex,np.number,
		tf.TransferFunction,ss.StateSpace, frd.FRD)):
		raise TypeError("sys2 must be a TransferFunction, StateSpace " +
		"or FRD object, or a scalar.")

		# If sys1 is a scalar, convert it to the appropriate LTI type so that we can
		# its feedback member function.
		if isinstance(sys1, (int, float, complex)):
		if isinstance(sys1, (int, float, complex, np.number)):
		if isinstance(sys2, tf.TransferFunction):
		sys1 = tf._convertToTransferFunction(sys1)
		elif isinstance(sys2, ss.StateSpace):
Expand Down
Original file line number	Diff line number	Diff line change
Expand Up		@@ -49,6 +49,7 @@
		"""

		# External function declarations
		import numpy as np
		from numpy import angle, array, empty, ones, \
		real, imag, matrix, absolute, eye, linalg, where, dot
		from scipy.interpolate import splprep, splev
Expand DownExpand Up		@@ -219,7 +220,7 @@ def __mul__(self, other):
		"""Multiply two LTI objects (serial connection)."""

		# Convert the second argument to a transfer function.
		if isinstance(other, (int, float, complex)):
		if isinstance(other, (int, float, complex, np.number)):
		return FRD(self.fresp * other, self.omega,
		smooth=(self.ifunc is not None))
		else:
Expand All		@@ -245,7 +246,7 @@ def __rmul__(self, other):
		"""Right Multiply two LTI objects (serial connection)."""

		# Convert the second argument to an frd function.
		if isinstance(other, (int, float, complex)):
		if isinstance(other, (int, float, complex, np.number)):
		return FRD(self.fresp * other, self.omega,
		smooth=(self.ifunc is not None))
		else:
Expand All		@@ -272,7 +273,7 @@ def __rmul__(self, other):
		def __truediv__(self, other):
		"""Divide two LTI objects."""

		if isinstance(other, (int, float, complex)):
		if isinstance(other, (int, float, complex, np.number)):
		return FRD(self.fresp * (1/other), self.omega,
		smooth=(self.ifunc is not None))
		else:
Expand All		@@ -295,7 +296,7 @@ def __div__(self, other):
		# TODO: Division of MIMO transfer function objects is not written yet.
		def __rtruediv__(self, other):
		"""Right divide two LTI objects."""
		if isinstance(other, (int, float, complex)):
		if isinstance(other, (int, float, complex, np.number)):
		return FRD(other / self.fresp, self.omega,
		smooth=(self.ifunc is not None))
		else:
Expand DownExpand Up		@@ -449,7 +450,7 @@ def _convertToFRD(sys, omega, inputs=1, outputs=1):

		return FRD(fresp, omega, smooth=True)

		elif isinstance(sys, (int, float, complex)):
		elif isinstance(sys, (int, float, complex, np.number)):
		fresp = ones((outputs, inputs, len(omega)), dtype=float)*sys
		return FRD(fresp, omega, smooth=True)

Expand Down
Original file line number	Diff line number	Diff line change
Expand Up		@@ -12,6 +12,7 @@
		timebaseEqual()
		"""

		import numpy as np
		from numpy import absolute, real

		__all__ = ['issiso', 'timebase', 'timebaseEqual', 'isdtime', 'isctime',
Expand DownExpand Up		@@ -96,7 +97,7 @@ def dcgain(self):

		# Test to see if a system is SISO
		def issiso(sys, strict=False):
		if isinstance(sys, (int, float, complex)) and not strict:
		if isinstance(sys, (int, float, complex, np.number)) and not strict:
		return True
		elif not isinstance(sys, LTI):
		raise ValueError("Object is not an LTI system")
Expand All		@@ -114,7 +115,7 @@ def timebase(sys, strict=True):
		set to False, dt = True will be returned as 1.
		"""
		# System needs to be either a constant or an LTI system
		if isinstance(sys, (int, float, complex)):
		if isinstance(sys, (int, float, complex, np.number)):
		return None
		elif not isinstance(sys, LTI):
		raise ValueError("Timebase not defined")
Expand DownExpand Up		@@ -162,7 +163,7 @@ def isdtime(sys, strict=False):
		"""

		# Check to see if this is a constant
		if isinstance(sys, (int, float, complex)):
		if isinstance(sys, (int, float, complex, np.number)):
		# OK as long as strict checking is off
		return True if not strict else False

Expand All		@@ -187,7 +188,7 @@ def isctime(sys, strict=False):
		"""

		# Check to see if this is a constant
		if isinstance(sys, (int, float, complex)):
		if isinstance(sys, (int, float, complex, np.number)):
		# OK as long as strict checking is off
		return True if not strict else False

Expand Down
Original file line number	Diff line number	Diff line change
Expand Up		@@ -58,6 +58,7 @@
		from numpy.random import rand, randn
		from numpy.linalg import solve, eigvals, matrix_rank
		from numpy.linalg.linalg import LinAlgError
		import scipy as sp
		from scipy.signal import lti, cont2discrete
		# from exceptions import Exception
		import warnings
Expand DownExpand Up		@@ -218,7 +219,7 @@ def __add__(self, other):
		"""Add two LTI systems (parallel connection)."""

		# Check for a couple of special cases
		if (isinstance(other, (int, float, complex))):
		if (isinstance(other, (int, float, complex, np.number))):
		# Just adding a scalar; put it in the D matrix
		A, B, C = self.A, self.B, self.C;
		D = self.D + other;
Expand DownExpand Up		@@ -275,7 +276,7 @@ def __mul__(self, other):
		"""Multiply two LTI objects (serial connection)."""

		# Check for a couple of special cases
		if isinstance(other, (int, float, complex)):
		if isinstance(other, (int, float, complex, np.number)):
		# Just multiplying by a scalar; change the output
		A, B = self.A, self.B
		C = self.C * other
Expand DownExpand Up		@@ -316,7 +317,7 @@ def __rmul__(self, other):
		"""Right multiply two LTI objects (serial connection)."""

		# Check for a couple of special cases
		if isinstance(other, (int, float, complex)):
		if isinstance(other, (int, float, complex, np.number)):
		# Just multiplying by a scalar; change the input
		A, C = self.A, self.C;
		B = self.B * other;
Expand DownExpand Up		@@ -699,11 +700,10 @@ def _convertToStateSpace(sys, **kw):
		# TODO: do we want to squeeze first and check dimenations?
		# I think this will fail if num and den aren't 1-D after
		# the squeeze
		lti_sys = lti(squeeze(sys.num), squeeze(sys.den))
		return StateSpace(lti_sys.A, lti_sys.B, lti_sys.C, lti_sys.D,
		sys.dt)
		A, B, C, D = sp.signal.tf2ss(squeeze(sys.num), squeeze(sys.den))
		return StateSpace(A, B, C, D, sys.dt)

		elif isinstance(sys, (int, float, complex)):
		elif isinstance(sys, (int, float, complex, np.number)):
		if "inputs" in kw:
		inputs = kw["inputs"]
		else:
Expand Down
Original file line number	Diff line number	Diff line change
Expand Up		@@ -52,10 +52,11 @@
		"""

		# External function declarations
		import numpy as np
		from numpy import angle, any, array, empty, finfo, insert, ndarray, ones, \
		polyadd, polymul, polyval, roots, sort, sqrt, zeros, squeeze, exp, pi, \
		where, delete, real, poly, poly1d
		importnumpy asnp
		importscipy assp
		from scipy.signal import lti, tf2zpk, zpk2tf, cont2discrete
		from copy import deepcopy
		from warnings import warn
Expand DownExpand Up		@@ -126,7 +127,7 @@ def __init__(self, *args):
		data = [num, den]
		for i in range(len(data)):
		# Check for a scalar (including 0d ndarray)
		if (isinstance(data[i], (int, float, complex)) or
		if (isinstance(data[i], (int, float, complex, np.number)) or
		(isinstance(data[i], ndarray) and data[i].ndim == 0)):
		# Convert scalar to list of list of array.
		if (isinstance(data[i], int)):
Expand All		@@ -135,7 +136,7 @@ def __init__(self, *args):
		else:
		data[i] = [[array([data[i]])]]
		elif (isinstance(data[i], (list, tuple, ndarray)) and
		isinstance(data[i][0], (int, float, complex))):
		isinstance(data[i][0], (int, float, complex, np.number))):
		# Convert array to list of list of array.
		if (isinstance(data[i][0], int)):
		# Convert integers to floats at this point
Expand All		@@ -146,7 +147,8 @@ def __init__(self, *args):
		elif (isinstance(data[i], list) and
		isinstance(data[i][0], list) and
		isinstance(data[i][0][0], (list, tuple, ndarray)) and
		isinstance(data[i][0][0][0], (int, float, complex))):
		isinstance(data[i][0][0][0], (int, float, complex,
		np.number))):
		# We might already have the right format. Convert the
		# coefficient vectors to arrays, if necessary.
		for j in range(len(data[i])):
Expand DownExpand Up		@@ -363,7 +365,7 @@ def __rsub__(self, other):
		def __mul__(self, other):
		"""Multiply two LTI objects (serial connection)."""
		# Convert the second argument to a transfer function.
		if isinstance(other, (int, float, complex)):
		if isinstance(other, (int, float, complex, np.number)):
		other = _convertToTransferFunction(other, inputs=self.inputs,
		outputs=self.inputs)
		else:
Expand DownExpand Up		@@ -410,7 +412,7 @@ def __rmul__(self, other):
		"""Right multiply two LTI objects (serial connection)."""

		# Convert the second argument to a transfer function.
		if isinstance(other, (int, float, complex)):
		if isinstance(other, (int, float, complex, np.number)):
		other = _convertToTransferFunction(other, inputs=self.inputs,
		outputs=self.inputs)
		else:
Expand DownExpand Up		@@ -458,7 +460,7 @@ def __rmul__(self, other):
		def __truediv__(self, other):
		"""Divide two LTI objects."""

		if isinstance(other, (int, float, complex)):
		if isinstance(other, (int, float, complex, np.number)):
		other = _convertToTransferFunction(
		other, inputs=self.inputs,
		outputs=self.inputs)
Expand DownExpand Up		@@ -492,7 +494,7 @@ def __div__(self, other):
		# TODO: Division of MIMO transfer function objects is not written yet.
		def __rtruediv__(self, other):
		"""Right divide two LTI objects."""
		if isinstance(other, (int, float, complex)):
		if isinstance(other, (int, float, complex, np.number)):
		other = _convertToTransferFunction(
		other, inputs=self.inputs,
		outputs=self.inputs)
Expand DownExpand Up		@@ -1128,22 +1130,21 @@ def _convertToTransferFunction(sys, **kw):
		# Each transfer function matrix row
		# has a common denominator.
		den[i][j] = list(tfout[5][i, :])
		# print(num)
		# print(den)

		except ImportError:
		# If slycot is not available, use signal.lti (SISO only)
		if (sys.inputs != 1 or sys.outputs != 1):
		raise TypeError("No support for MIMO without slycot")

		lti_sys = lti(sys.A, sys.B, sys.C, sys.D)
		num = squeeze(lti_sys.num)
		den =squeeze(lti_sys.den)
		# print(num)
		# print(den)
		# Do the conversion using sp.signal.ss2tf
		# Note that this returns a 2D array for the numerator
		num,den =sp.signal.ss2tf(sys.A, sys.B, sys.C, sys.D)
		num = squeeze(num) # Convert to 1D array
		den = squeeze(den) # Probably not needed

		return TransferFunction(num, den, sys.dt)

		elif isinstance(sys, (int, float, complex)):
		elif isinstance(sys, (int, float, complex, np.number)):
		if "inputs" in kw:
		inputs = kw["inputs"]
		else:
Expand Down