Aug 6, 2022 · Aug 4, 2022 · Aug 4, 2022 · Aug 4, 2022 · Aug 4, 2022 · Aug 4, 2022
diff --git a/control/iosys.py b/control/iosys.py
        if not isinstance(outlist, (list, tuple)):
            outlist = [outlist]

        # Process keyword arguments
        # Check if dt argument was given; if not, pull from systems
        dt = kwargs.pop('dt', None)

        # Process keyword arguments (except dt)
        defaults = {'inputs': len(inplist), 'outputs': len(outlist)}
        name, inputs, outputs, states,dt = _process_namedio_keywords(
        name, inputs, outputs, states,_ = _process_namedio_keywords(
            kwargs, defaults, end=True)

        # Initialize the system list and index
diff --git a/control/tests/timebase_test.py b/control/tests/timebase_test.py
 import pytest
 import inspect
 import numpy as np
 import control as ct

 @pytest.mark.parametrize(
    "dt1, dt2, dt3", [
        (0, 0, 0),
        (0, 0.1, ValueError),
        (0, None, 0),
        (0, True, ValueError),
        (0.1, 0, ValueError),
        (0.1, 0.1, 0.1),
        (0.1, None, 0.1),
        (0.1, True, 0.1),
        (None, 0, 0),
        (None, 0.1, 0.1),
        (None, None, None),
        (None, True, True),
        (True, 0, ValueError),
        (True, 0.1, 0.1),
        (True, None, True),
        (True, True, True),
        (0.2, None, 0.2),
        (0.2, 0.1, ValueError),
     ])
 @pytest.mark.parametrize("op", [ct.series, ct.parallel, ct.feedback])
 @pytest.mark.parametrize("type", [ct.StateSpace, ct.ss, ct.tf])
 def test_composition(dt1, dt2, dt3, op, type):
    # Define the system
    A, B, C, D = [[1, 1], [0, 1]], [[0], [1]], [[1, 0]], 0
    sys1 = ct.StateSpace(A, B, C, D, dt1)
    sys2 = ct.StateSpace(A, B, C, D, dt2)

    # Convert to the desired form
    sys1 = type(sys1)
    sys2 = type(sys2)

    if inspect.isclass(dt3) and issubclass(dt3, Exception):
        with pytest.raises(dt3, match="incompatible timebases"):
            sys3 = op(sys1, sys2)
    else:
        sys3 = op(sys1, sys2)
        assert sys3.dt == dt3


 @pytest.mark.parametrize("dt", [None, 0, 0.1])
 def test_composition_override(dt):
    # Define the system
    A, B, C, D = [[1, 1], [0, 1]], [[0], [1]], [[1, 0]], 0
    sys1 = ct.ss(A, B, C, D, None, inputs='u1', outputs='y1')
    sys2 = ct.ss(A, B, C, D, None, inputs='y1', outputs='y2')

    # Show that we can override the type
    sys3 = ct.interconnect([sys1, sys2], inputs='u1', outputs='y2', dt=dt)
    assert sys3.dt == dt

    # Overriding the type with an inconsistent type generates an error
    sys1 = ct.StateSpace(A, B, C, D, 0.1, inputs='u1', outputs='y1')
    if dt != 0.1 and dt is not None:
        with pytest.raises(ValueError, match="incompatible timebases"):
            sys3 = ct.interconnect(
                [sys1, sys2], inputs='u1', outputs='y2', dt=dt)

    sys1 = ct.StateSpace(A, B, C, D, 0, inputs='u1', outputs='y1')
    if dt != 0 and dt is not None:
        with pytest.raises(ValueError, match="incompatible timebases"):
            sys3 = ct.interconnect(
                [sys1, sys2], inputs='u1', outputs='y2', dt=dt)
Original file line number	Diff line number	Diff line change
Expand Up		@@ -871,9 +871,12 @@ def __init__(self, syslist, connections=[], inplist=[], outlist=[],
		if not isinstance(outlist, (list, tuple)):
		outlist = [outlist]

		# Process keyword arguments
		# Check if dt argument was given; if not, pull from systems
		dt = kwargs.pop('dt', None)

		# Process keyword arguments (except dt)
		defaults = {'inputs': len(inplist), 'outputs': len(outlist)}
		name, inputs, outputs, states,dt = _process_namedio_keywords(
		name, inputs, outputs, states,_ = _process_namedio_keywords(
		kwargs, defaults, end=True)

		# Initialize the system list and index
Expand Down
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,69 @@
		import pytest
		import inspect
		import numpy as np
		import control as ct

		@pytest.mark.parametrize(
		"dt1, dt2, dt3", [
		(0, 0, 0),
		(0, 0.1, ValueError),
		(0, None, 0),
		(0, True, ValueError),
		(0.1, 0, ValueError),
		(0.1, 0.1, 0.1),
		(0.1, None, 0.1),
		(0.1, True, 0.1),
		(None, 0, 0),
		(None, 0.1, 0.1),
		(None, None, None),
		(None, True, True),
		(True, 0, ValueError),
		(True, 0.1, 0.1),
		(True, None, True),
		(True, True, True),
		(0.2, None, 0.2),
		(0.2, 0.1, ValueError),
Copy link Contributor sawyerbfullerAug 4, 2022 Choose a reason for hiding this comment The reason will be displayed to describe this comment to others.Learn more. Great PR. Would be good to add tests for`dt=True`, which are compatible with all other discrete-time timebases.https://python-control.readthedocs.io/en/0.9.2/conventions.html Copy link MemberAuthor murrayrmAug 4, 2022 Choose a reason for hiding this comment The reason will be displayed to describe this comment to others.Learn more. Great suggestion. Done.
		])
		@pytest.mark.parametrize("op", [ct.series, ct.parallel, ct.feedback])
		@pytest.mark.parametrize("type", [ct.StateSpace, ct.ss, ct.tf])
		def test_composition(dt1, dt2, dt3, op, type):
		# Define the system
		A, B, C, D = [[1, 1], [0, 1]], [[0], [1]], [[1, 0]], 0
		sys1 = ct.StateSpace(A, B, C, D, dt1)
		sys2 = ct.StateSpace(A, B, C, D, dt2)

		# Convert to the desired form
		sys1 = type(sys1)
		sys2 = type(sys2)

		if inspect.isclass(dt3) and issubclass(dt3, Exception):
		with pytest.raises(dt3, match="incompatible timebases"):
		sys3 = op(sys1, sys2)
		else:
		sys3 = op(sys1, sys2)
		assert sys3.dt == dt3


		@pytest.mark.parametrize("dt", [None, 0, 0.1])
		def test_composition_override(dt):
		# Define the system
		A, B, C, D = [[1, 1], [0, 1]], [[0], [1]], [[1, 0]], 0
		sys1 = ct.ss(A, B, C, D, None, inputs='u1', outputs='y1')
		sys2 = ct.ss(A, B, C, D, None, inputs='y1', outputs='y2')

		# Show that we can override the type
		sys3 = ct.interconnect([sys1, sys2], inputs='u1', outputs='y2', dt=dt)
		assert sys3.dt == dt

		# Overriding the type with an inconsistent type generates an error
		sys1 = ct.StateSpace(A, B, C, D, 0.1, inputs='u1', outputs='y1')
		if dt != 0.1 and dt is not None:
		with pytest.raises(ValueError, match="incompatible timebases"):
		sys3 = ct.interconnect(
		[sys1, sys2], inputs='u1', outputs='y2', dt=dt)

		sys1 = ct.StateSpace(A, B, C, D, 0, inputs='u1', outputs='y1')
		if dt != 0 and dt is not None:
		with pytest.raises(ValueError, match="incompatible timebases"):
		sys3 = ct.interconnect(
		[sys1, sys2], inputs='u1', outputs='y2', dt=dt)