Mar 20, 2021 · Mar 20, 2021
diff --git a/control/statesp.py b/control/statesp.py
        """
        return self._dcgain(warn_infinite)

    def dynamics(self, t, x, u=0):
    def dynamics(self, t, x, u=None):
        """Compute the dynamics of the system

        Given input `u` and state `x`, returns the dynamics of the state-space
        x = np.reshape(x, (-1, 1)) # force to a column in case matrix
        if np.size(x) != self.nstates:
            raise ValueError("len(x) must be equal to number of states")
        if u is0:
        if u isNone:
            return self.A.dot(x).reshape((-1,)) # return as row vector
        else: # received t, x, and u, ignore t
            u = np.reshape(u, (-1, 1)) # force to a column in case matrix
            return self.A.dot(x).reshape((-1,)) \
                 + self.B.dot(u).reshape((-1,)) # return as row vector

    def output(self, t, x, u=0):
    def output(self, t, x, u=None):
        """Compute the output of the system

        Given input `u` and state `x`, returns the output `y` of the
        if np.size(x) != self.nstates:
            raise ValueError("len(x) must be equal to number of states")

        if u is0:
        if u isNone:
            return self.C.dot(x).reshape((-1,)) # return as row vector
        else: # received t, x, and u, ignore t
            u = np.reshape(u, (-1, 1)) # force to a column in case matrix
Original file line number	Diff line number	Diff line change
Expand Up		@@ -1238,7 +1238,7 @@ def dcgain(self, warn_infinite=False):
		"""
		return self._dcgain(warn_infinite)

		def dynamics(self, t, x, u=0):
		def dynamics(self, t, x, u=None):
		"""Compute the dynamics of the system

		Given input `u` and state `x`, returns the dynamics of the state-space
Expand DownExpand Up		@@ -1274,7 +1274,7 @@ def dynamics(self, t, x, u=0):
		x = np.reshape(x, (-1, 1)) # force to a column in case matrix
		if np.size(x) != self.nstates:
		raise ValueError("len(x) must be equal to number of states")
		if u is0:
		if u isNone:
		return self.A.dot(x).reshape((-1,)) # return as row vector
		else: # received t, x, and u, ignore t
		u = np.reshape(u, (-1, 1)) # force to a column in case matrix
Expand All		@@ -1283,7 +1283,7 @@ def dynamics(self, t, x, u=0):
		return self.A.dot(x).reshape((-1,)) \
		+ self.B.dot(u).reshape((-1,)) # return as row vector

		def output(self, t, x, u=0):
		def output(self, t, x, u=None):
		"""Compute the output of the system

		Given input `u` and state `x`, returns the output `y` of the
Expand DownExpand Up		@@ -1317,7 +1317,7 @@ def output(self, t, x, u=0):
		if np.size(x) != self.nstates:
		raise ValueError("len(x) must be equal to number of states")

		if u is0:
		if u isNone:
		return self.C.dot(x).reshape((-1,)) # return as row vector
		else: # received t, x, and u, ignore t
		u = np.reshape(u, (-1, 1)) # force to a column in case matrix
Expand Down