Nov 20, 2022 · Nov 19, 2022
diff --git a/control/flatsys/flatsys.py b/control/flatsys/flatsys.py
                 forward, reverse,              # flat system
                 updfcn=None, outfcn=None,      # I/O system
                 inputs=None, outputs=None,
                 states=None, params={}, dt=None, name=None):
                 states=None, params=None, dt=None, name=None):
        """Create a differentially flat I/O system.

        The FlatIOSystem constructor is used to create an input/output system
            + f"Forward: {self.forward}\n" \
            + f"Reverse: {self.reverse}"

    def forward(self, x, u, params={}):
    def forward(self, x, u, params=None):

        """Compute the flat flag given the states and input.

        """
        raise NotImplementedError("internal error; forward method not defined")

    def reverse(self, zflag, params={}):
    def reverse(self, zflag, params=None):
        """Compute the states and input given the flat flag.

        Parameters
        """
        raise NotImplementedError("internal error; reverse method not defined")

    def _flat_updfcn(self, t, x, u, params={}):
    def _flat_updfcn(self, t, x, u, params=None):
        # TODO: implement state space update using flat coordinates
        raise NotImplementedError("update function for flat system not given")

    def _flat_outfcn(self, t, x, u, params={}):
    def _flat_outfcn(self, t, x, u, params=None):
        # Return the flat output
        zflag = self.forward(x, u, params)
        return np.array([zflag[i][0] for i in range(len(zflag))])


 # Utility function to compute flag matrix given a basis
 def _basis_flag_matrix(sys, basis, flag, t, params={}):
 def _basis_flag_matrix(sys, basis, flag, t):
    """Compute the matrix of basis functions and their derivatives

    This function computes the matrix ``M`` that is used to solve for the
diff --git a/control/flatsys/linflat.py b/control/flatsys/linflat.py
        return np.reshape(x, self.nstates), np.reshape(u, self.ninputs)

    # Update function
    def _rhs(self, t, x, u, params={}):
    def _rhs(self, t, x, u):
        # Use LinearIOSystem._rhs instead of default (MRO) NonlinearIOSystem
        return LinearIOSystem._rhs(self, t, x, u)

    # output function
    def _out(self, t, x, u, params={}):
    def _out(self, t, x, u):
        # Use LinearIOSystem._out instead of default (MRO) NonlinearIOSystem
        return LinearIOSystem._out(self, t, x, u)
diff --git a/control/iosys.py b/control/iosys.py
 def input_output_response(
        sys, T, U=0., X0=0, params=None,
        transpose=False, return_x=False, squeeze=None,
        solve_ivp_kwargs={}, t_eval='T', **kwargs):
        solve_ivp_kwargs=None, t_eval='T', **kwargs):
    """Compute the output response of a system to a given input.

    Simulate a dynamical system with a given input and return its output
    solve_ivp_method : str, optional
        Set the method used by :func:`scipy.integrate.solve_ivp`.  Defaults
        to 'RK45'.
    solve_ivp_kwargs :str, optional
    solve_ivp_kwargs :dict, optional
        Pass additional keywords to :func:`scipy.integrate.solve_ivp`.

    Raises
    #

    # Figure out the method to be used
    solve_ivp_kwargs = solve_ivp_kwargs.copy() if solve_ivp_kwargs else {}
    if kwargs.get('solve_ivp_method', None):
        if kwargs.get('method', None):
            raise ValueError("ivp_method specified more than once")
diff --git a/control/tests/kwargs_test.py b/control/tests/kwargs_test.py
            # Skip anything that isn't part of the control package
            continue

        # Look for classes and then check member functions
        if inspect.isclass(obj):
            test_kwarg_search(obj, prefix + obj.__name__ + '.')

        # Only look for functions with keyword arguments
        if not inspect.isfunction(obj):
            continue
                    f"'unrecognized keyword' not found in unit test "
                    f"for {name}")

        # Look for classes and then check member functions
        if inspect.isclass(obj):
            test_kwarg_search(obj, prefix + obj.__name__ + '.')


 @pytest.mark.parametrize(
    "function, nsssys, ntfsys, moreargs, kwargs",
    'TimeResponseData.__call__': trdata_test.test_response_copy,
    'TransferFunction.__init__': test_unrecognized_kwargs,
 }

 #
 # Look for keywords with mutable defaults
 #
 # This test goes through every function and looks for signatures that have a
 # default value for a keyword that is mutable.  An error is generated unless
 # the function is listed in the `mutable_ok` set (which should only be used
 # for cases were the code has been explicitly checked to make sure that the
 # value of the mutable is not modified in the code).
 #
 mutable_ok = {                                          # initial and date
    control.flatsys.SystemTrajectory.__init__,          # RMM, 18 Nov 2022
    control.freqplot._add_arrows_to_line2D,             # RMM, 18 Nov 2022
    control.namedio._process_dt_keyword,                # RMM, 13 Nov 2022
    control.namedio._process_namedio_keywords,          # RMM, 18 Nov 2022
    control.optimal.OptimalControlProblem.__init__,     # RMM, 18 Nov 2022
    control.optimal.solve_ocp,                          # RMM, 18 Nov 2022
    control.optimal.create_mpc_iosystem,                # RMM, 18 Nov 2022
 }

 @pytest.mark.parametrize("module", [control, control.flatsys])
 def test_mutable_defaults(module, recurse=True):
    # Look through every object in the package
    for name, obj in inspect.getmembers(module):
        # Skip anything that is outside of this module
        if inspect.getmodule(obj) is not None and \
           not inspect.getmodule(obj).__name__.startswith('control'):
            # Skip anything that isn't part of the control package
            continue

        # Look for classes and then check member functions
        if inspect.isclass(obj):
            test_mutable_defaults(obj, True)

        # Look for modules and check for internal functions (w/ no recursion)
        if inspect.ismodule(obj) and recurse:
            test_mutable_defaults(obj, False)

        # Only look at functions and skip any that are marked as OK
        if not inspect.isfunction(obj) or obj in mutable_ok:
            continue

        # Get the signature for the function
        sig = inspect.signature(obj)

        # Skip anything that is inherited
        if inspect.isclass(module) and obj.__name__ not in module.__dict__:
            continue

        # See if there is a variable keyword argument
        for argname, par in sig.parameters.items():
            if par.default is inspect._empty or \
               not par.kind == inspect.Parameter.KEYWORD_ONLY and \
               not par.kind == inspect.Parameter.POSITIONAL_OR_KEYWORD:
                continue

            # Check to see if the default value is mutable
            if par.default is not None and not \
               isinstance(par.default, (bool, int, float, tuple, str)):
                pytest.fail(
                    f"function '{obj.__name__}' in module '{module.__name__}'"
                    f" has mutable default for keyword '{par.name}'")
Original file line number	Diff line number	Diff line change
Expand Up		@@ -142,7 +142,7 @@ def __init__(self,
		forward, reverse, # flat system
		updfcn=None, outfcn=None, # I/O system
		inputs=None, outputs=None,
		states=None, params={}, dt=None, name=None):
		states=None, params=None, dt=None, name=None):
		"""Create a differentially flat I/O system.

		The FlatIOSystem constructor is used to create an input/output system
Expand DownExpand Up		@@ -171,7 +171,7 @@ def __str__(self):
		+ f"Forward: {self.forward}\n" \
		+ f"Reverse: {self.reverse}"

		def forward(self, x, u, params={}):
		def forward(self, x, u, params=None):

		"""Compute the flat flag given the states and input.

Expand DownExpand Up		@@ -200,7 +200,7 @@ def forward(self, x, u, params={}):
		"""
		raise NotImplementedError("internal error; forward method not defined")

		def reverse(self, zflag, params={}):
		def reverse(self, zflag, params=None):
		"""Compute the states and input given the flat flag.

		Parameters
Expand All		@@ -224,18 +224,18 @@ def reverse(self, zflag, params={}):
		"""
		raise NotImplementedError("internal error; reverse method not defined")

		def _flat_updfcn(self, t, x, u, params={}):
		def _flat_updfcn(self, t, x, u, params=None):
		# TODO: implement state space update using flat coordinates
		raise NotImplementedError("update function for flat system not given")

		def _flat_outfcn(self, t, x, u, params={}):
		def _flat_outfcn(self, t, x, u, params=None):
		# Return the flat output
		zflag = self.forward(x, u, params)
		return np.array([zflag[i][0] for i in range(len(zflag))])


		# Utility function to compute flag matrix given a basis
		def _basis_flag_matrix(sys, basis, flag, t, params={}):
		def _basis_flag_matrix(sys, basis, flag, t):
		"""Compute the matrix of basis functions and their derivatives

		This function computes the matrix ``M`` that is used to solve for the
Expand Down
Original file line number	Diff line number	Diff line change
Expand Up		@@ -142,11 +142,11 @@ def reverse(self, zflag, params):
		return np.reshape(x, self.nstates), np.reshape(u, self.ninputs)

		# Update function
		def _rhs(self, t, x, u, params={}):
		def _rhs(self, t, x, u):
		# Use LinearIOSystem._rhs instead of default (MRO) NonlinearIOSystem
		return LinearIOSystem._rhs(self, t, x, u)

		# output function
		def _out(self, t, x, u, params={}):
		def _out(self, t, x, u):
		# Use LinearIOSystem._out instead of default (MRO) NonlinearIOSystem
		return LinearIOSystem._out(self, t, x, u)
Original file line number	Diff line number	Diff line change
Expand Up		@@ -1584,7 +1584,7 @@ def __init__(self, io_sys, ss_sys=None):
		def input_output_response(
		sys, T, U=0., X0=0, params=None,
		transpose=False, return_x=False, squeeze=None,
		solve_ivp_kwargs={}, t_eval='T', **kwargs):
		solve_ivp_kwargs=None, t_eval='T', **kwargs):
		"""Compute the output response of a system to a given input.

		Simulate a dynamical system with a given input and return its output
Expand DownExpand Up		@@ -1650,7 +1650,7 @@ def input_output_response(
		solve_ivp_method : str, optional
		Set the method used by :func:`scipy.integrate.solve_ivp`. Defaults
		to 'RK45'.
		solve_ivp_kwargs :str, optional
		solve_ivp_kwargs :dict, optional
		Pass additional keywords to :func:`scipy.integrate.solve_ivp`.

		Raises
Expand All		@@ -1676,6 +1676,7 @@ def input_output_response(
		#

		# Figure out the method to be used
		solve_ivp_kwargs = solve_ivp_kwargs.copy() if solve_ivp_kwargs else {}
		if kwargs.get('solve_ivp_method', None):
		if kwargs.get('method', None):
		raise ValueError("ivp_method specified more than once")
Expand Down
Original file line number	Diff line number	Diff line change
Expand Up		@@ -38,6 +38,10 @@ def test_kwarg_search(module, prefix):
		# Skip anything that isn't part of the control package
		continue

		# Look for classes and then check member functions
		if inspect.isclass(obj):
		test_kwarg_search(obj, prefix + obj.__name__ + '.')

		# Only look for functions with keyword arguments
		if not inspect.isfunction(obj):
		continue
Expand DownExpand Up		@@ -70,10 +74,6 @@ def test_kwarg_search(module, prefix):
		f"'unrecognized keyword' not found in unit test "
		f"for {name}")

		# Look for classes and then check member functions
		if inspect.isclass(obj):
		test_kwarg_search(obj, prefix + obj.__name__ + '.')


		@pytest.mark.parametrize(
		"function, nsssys, ntfsys, moreargs, kwargs",
Expand DownExpand Up		@@ -201,3 +201,66 @@ def test_matplotlib_kwargs(function, nsysargs, moreargs, kwargs, mplcleanup):
		'TimeResponseData.__call__': trdata_test.test_response_copy,
		'TransferFunction.__init__': test_unrecognized_kwargs,
		}

		#
		# Look for keywords with mutable defaults
		#
		# This test goes through every function and looks for signatures that have a
		# default value for a keyword that is mutable. An error is generated unless
		# the function is listed in the `mutable_ok` set (which should only be used
		# for cases were the code has been explicitly checked to make sure that the
		# value of the mutable is not modified in the code).
		#
		mutable_ok = { # initial and date
		control.flatsys.SystemTrajectory.__init__, # RMM, 18 Nov 2022
		control.freqplot._add_arrows_to_line2D, # RMM, 18 Nov 2022
		control.namedio._process_dt_keyword, # RMM, 13 Nov 2022
		control.namedio._process_namedio_keywords, # RMM, 18 Nov 2022
		control.optimal.OptimalControlProblem.__init__, # RMM, 18 Nov 2022
		control.optimal.solve_ocp, # RMM, 18 Nov 2022
		control.optimal.create_mpc_iosystem, # RMM, 18 Nov 2022
		}

		@pytest.mark.parametrize("module", [control, control.flatsys])
		def test_mutable_defaults(module, recurse=True):
		# Look through every object in the package
		for name, obj in inspect.getmembers(module):
		# Skip anything that is outside of this module
		if inspect.getmodule(obj) is not None and \
		not inspect.getmodule(obj).__name__.startswith('control'):
		# Skip anything that isn't part of the control package
		continue

		# Look for classes and then check member functions
		if inspect.isclass(obj):
		test_mutable_defaults(obj, True)

		# Look for modules and check for internal functions (w/ no recursion)
		if inspect.ismodule(obj) and recurse:
		test_mutable_defaults(obj, False)

		# Only look at functions and skip any that are marked as OK
		if not inspect.isfunction(obj) or obj in mutable_ok:
		continue

		# Get the signature for the function
		sig = inspect.signature(obj)

		# Skip anything that is inherited
		if inspect.isclass(module) and obj.__name__ not in module.__dict__:
		continue

		# See if there is a variable keyword argument
		for argname, par in sig.parameters.items():
		if par.default is inspect._empty or \
		not par.kind == inspect.Parameter.KEYWORD_ONLY and \
		not par.kind == inspect.Parameter.POSITIONAL_OR_KEYWORD:
		continue

		# Check to see if the default value is mutable
		if par.default is not None and not \
		isinstance(par.default, (bool, int, float, tuple, str)):
		pytest.fail(
		f"function '{obj.__name__}' in module '{module.__name__}'"
		f" has mutable default for keyword '{par.name}'")