Jan 5, 2019 · Jan 4, 2019 · Jan 4, 2019 · Jan 4, 2019
diff --git a/control/bdalg.py b/control/bdalg.py
    # its feedback member function.
    if isinstance(sys1, (int, float, complex, np.number)):
        if isinstance(sys2, tf.TransferFunction):
            sys1 = tf._convertToTransferFunction(sys1)
            sys1 = tf._convert_to_transfer_function(sys1)
        elif isinstance(sys2, ss.StateSpace):
            sys1 = ss._convertToStateSpace(sys1)
        elif isinstance(sys2, frd.FRD):
            sys1 = ss._convertToFRD(sys1)
        else: # sys2 is a scalar.
            sys1 = tf._convertToTransferFunction(sys1)
            sys2 = tf._convertToTransferFunction(sys2)
            sys1 = tf._convert_to_transfer_function(sys1)
            sys2 = tf._convert_to_transfer_function(sys2)

    return sys1.feedback(sys2, sign)

diff --git a/control/margins.py b/control/margins.py
            sys = frdata.FRD(mag * np.exp(1j * phase * math.pi/180),
                             omega, smooth=True)
        else:
            sys = xferfcn._convertToTransferFunction(sysdata)
            sys = xferfcn._convert_to_transfer_function(sysdata)
    except Exception as e:
        print (e)
        raise ValueError("Margin sysdata must be either a linear system or "
    """

    # Convert to a transfer function
    tf = xferfcn._convertToTransferFunction(sys)
    tf = xferfcn._convert_to_transfer_function(sys)

    # if not siso, fall back to (0,0) element
    #! TODO: should add a check and warning here
diff --git a/control/rlocus.py b/control/rlocus.py
 from math import pi
 import scipy.signal             # signal processing toolbox
 import pylab                    # plotting routines
 from .xferfcn import_convertToTransferFunction
 from .xferfcn import_convert_to_transfer_function
 from .exception import ControlMIMONotImplemented
 from functools import partial
 from .lti import isdtime

    else:
        # Convert to a transfer function, if needed
        sys =_convertToTransferFunction(sys)
        sys =_convert_to_transfer_function(sys)

        # Make sure we have a SISO system
        if (sys.inputs > 1 or sys.outputs > 1):
diff --git a/control/statesp.py b/control/statesp.py
 from scipy.signal import lti, cont2discrete
 from warnings import warn
 from .lti import LTI, timebase, timebaseEqual, isdtime
 from .xferfcn import_convertToTransferFunction
 from .xferfcn import_convert_to_transfer_function
 from copy import deepcopy

 __all__ = ['StateSpace', 'ss', 'rss', 'drss', 'tf2ss', 'ssdata']
diff --git a/control/tests/timeresp_test.py b/control/tests/timeresp_test.py
 # import scipy as sp
 from control.timeresp import *
 from control.statesp import *
 from control.xferfcn import TransferFunction,_convertToTransferFunction
 from control.xferfcn import TransferFunction,_convert_to_transfer_function
 from control.dtime import c2d
 from control.exception import slycot_check


        # Create some transfer functions
        self.siso_tf1 = TransferFunction([1], [1, 2, 1])
        self.siso_tf2 =_convertToTransferFunction(self.siso_ss1)
        self.siso_tf2 =_convert_to_transfer_function(self.siso_ss1)

        # Create MIMO system, contains ``siso_ss1`` twice
        A = np.matrix("1. -2. 0.  0.;"
Original file line number	Diff line number	Diff line change
Expand Up		@@ -239,14 +239,14 @@ def feedback(sys1, sys2=1, sign=-1):
		# its feedback member function.
		if isinstance(sys1, (int, float, complex, np.number)):
		if isinstance(sys2, tf.TransferFunction):
		sys1 = tf._convertToTransferFunction(sys1)
		sys1 = tf._convert_to_transfer_function(sys1)
		elif isinstance(sys2, ss.StateSpace):
		sys1 = ss._convertToStateSpace(sys1)
		elif isinstance(sys2, frd.FRD):
		sys1 = ss._convertToFRD(sys1)
		else: # sys2 is a scalar.
		sys1 = tf._convertToTransferFunction(sys1)
		sys2 = tf._convertToTransferFunction(sys2)
		sys1 = tf._convert_to_transfer_function(sys1)
		sys2 = tf._convert_to_transfer_function(sys2)

		return sys1.feedback(sys2, sign)

Expand Down
Original file line number	Diff line number	Diff line change
Expand Up		@@ -144,7 +144,7 @@ def stability_margins(sysdata, returnall=False, epsw=0.0):
		sys = frdata.FRD(mag * np.exp(1j * phase * math.pi/180),
		omega, smooth=True)
		else:
		sys = xferfcn._convertToTransferFunction(sysdata)
		sys = xferfcn._convert_to_transfer_function(sysdata)
		except Exception as e:
		print (e)
		raise ValueError("Margin sysdata must be either a linear system or "
Expand DownExpand Up		@@ -299,7 +299,7 @@ def phase_crossover_frequencies(sys):
		"""

		# Convert to a transfer function
		tf = xferfcn._convertToTransferFunction(sys)
		tf = xferfcn._convert_to_transfer_function(sys)

		# if not siso, fall back to (0,0) element
		#! TODO: should add a check and warning here
Expand Down
Original file line number	Diff line number	Diff line change
Expand Up		@@ -51,7 +51,7 @@
		from math import pi
		import scipy.signal # signal processing toolbox
		import pylab # plotting routines
		from .xferfcn import_convertToTransferFunction
		from .xferfcn import_convert_to_transfer_function
		from .exception import ControlMIMONotImplemented
		from functools import partial
		from .lti import isdtime
Expand DownExpand Up		@@ -284,7 +284,7 @@ def _systopoly1d(sys):

		else:
		# Convert to a transfer function, if needed
		sys =_convertToTransferFunction(sys)
		sys =_convert_to_transfer_function(sys)

		# Make sure we have a SISO system
		if (sys.inputs > 1 or sys.outputs > 1):
Expand Down
Original file line number	Diff line number	Diff line change
Expand Up		@@ -62,7 +62,7 @@
		from scipy.signal import lti, cont2discrete
		from warnings import warn
		from .lti import LTI, timebase, timebaseEqual, isdtime
		from .xferfcn import_convertToTransferFunction
		from .xferfcn import_convert_to_transfer_function
		from copy import deepcopy

		__all__ = ['StateSpace', 'ss', 'rss', 'drss', 'tf2ss', 'ssdata']
Expand Down
Original file line number	Diff line number	Diff line change
Expand Up		@@ -13,7 +13,7 @@
		# import scipy as sp
		from control.timeresp import *
		from control.statesp import *
		from control.xferfcn import TransferFunction,_convertToTransferFunction
		from control.xferfcn import TransferFunction,_convert_to_transfer_function
		from control.dtime import c2d
		from control.exception import slycot_check

Expand All		@@ -28,7 +28,7 @@ def setUp(self):

		# Create some transfer functions
		self.siso_tf1 = TransferFunction([1], [1, 2, 1])
		self.siso_tf2 =_convertToTransferFunction(self.siso_ss1)
		self.siso_tf2 =_convert_to_transfer_function(self.siso_ss1)

		# Create MIMO system, contains ``siso_ss1`` twice
		A = np.matrix("1. -2. 0. 0.;"
Expand Down