Sep 16, 2023 · Jul 21, 2023 · Jul 24, 2023 · Jul 24, 2023 · Jul 24, 2023 · Jul 24, 2023
diff --git a/control/iosys.py b/control/iosys.py
        return sys.isctime(strict)


 # Utility function to parsenameio keywords
 # Utility function to parseiosys keywords
 def _process_iosys_keywords(
        keywords={}, defaults={}, static=False, end=False):
    """Process iosys specification.
    return name, inputs, outputs, states, dt

 #
 # Parse 'dt'infor named I/O system
 # Parse 'dt' for I/O system
 #
 # The 'dt' keyword is used to set the timebase for a system.  Its
 # processing is a bit unusual: if it is not specified at all, then the
diff --git a/control/nlsys.py b/control/nlsys.py

 __all__ = ['NonlinearIOSystem', 'InterconnectedSystem', 'nlsys',
           'input_output_response', 'find_eqpt', 'linearize',
           'interconnect']
           'interconnect', 'connection_table']


 class NonlinearIOSystem(InputOutputSystem):
            current state
        u : array_like
            input
        params : dict (optional)
        params : dict,optional
            system parameter values

        Returns
            current state
        u : array_like
            input
        params : dict (optional)
        params : dict,optional
            system parameter values

        Returns

    """
    def __init__(self, syslist, connections=None, inplist=None, outlist=None,
                 params=None, warn_duplicate=None, **kwargs):
                 params=None, warn_duplicate=None, connection_type=None,
                 **kwargs):
        """Create an I/O system from a list of systems + connection info."""
        from .statesp import _convert_to_statespace
        from .xferfcn import TransferFunction

        self.connection_type = connection_type # explicit, implicit, or None

        # Convert input and output names to lists if they aren't already
        if inplist is not None and not isinstance(inplist, list):
            inplist = [inplist]
        return ({inputs[i][:2]: inputs[i][2] for i in unused_sysinp},
                {outputs[i][:2]: outputs[i][2] for i in unused_sysout})

    def connection_table(self, show_names=False, column_width=32):
        """Print table of connections inside an interconnected system model.

        Intended primarily for :class:`InterconnectedSystems` that have been
        connected implicitly using signal names.

        Parameters
        ----------
        show_names : bool, optional
            Instead of printing out the system number, print out the name of
            each system. Default is False because system name is not usually
            specified when performing implicit interconnection using
            :func:`interconnect`.
        column_width : int, optional
            Character width of printed columns.

        Examples
        --------
        >>> P = ct.ss(1,1,1,0, inputs='u', outputs='y', name='P')
        >>> C = ct.tf(10, [.1, 1], inputs='e', outputs='u', name='C')
        >>> L = ct.interconnect([C, P], inputs='e', outputs='y')
        >>> L.connection_table(show_names=True) # doctest: +SKIP
        signal    | source                        | destination
        --------------------------------------------------------------------
        e         | input                         | C
        u         | C                             | P
        y         | P                             | output
        """

        print('signal'.ljust(10) + '| source'.ljust(column_width) + \
            '| destination')
        print('-'*(10 + column_width * 2))

        # TODO: update this method for explicitly-connected systems
        if not self.connection_type == 'implicit':
            warn('connection_table only gives useful output for implicitly-'\
                'connected systems')

        # collect signal labels
        signal_labels = []
        for sys in self.syslist:
            signal_labels += sys.input_labels + sys.output_labels
        signal_labels = set(signal_labels)

        for signal_label in signal_labels:
            print(signal_label.ljust(10), end='')
            sources = '| '
            dests = '| '

            #  overall interconnected system inputs and outputs
            if self.find_input(signal_label) is not None:
                sources += 'input'
            if self.find_output(signal_label) is not None:
                dests += 'output'

            # internal connections
            for idx, sys in enumerate(self.syslist):
                loc = sys.find_output(signal_label)
                if loc is not None:
                    if not sources.endswith(' '):
                        sources += ', '
                    sources += sys.name if show_names else 'system ' + str(idx)
                loc = sys.find_input(signal_label)
                if loc is not None:
                    if not dests.endswith(' '):
                        dests += ', '
                    dests += sys.name if show_names else 'system ' + str(idx)
            if len(sources) >= column_width:
                sources = sources[:column_width - 3] + '.. '
            print(sources.ljust(column_width), end='')
            if len(dests) > column_width:
                dests = dests[:column_width - 3] + '.. '
            print(dests.ljust(column_width), end='\n')

    def _find_inputs_by_basename(self, basename):
        """Find all subsystem inputs matching basename

        signals are given names, then the forms 'sys.sig' or ('sys', 'sig')
        are also recognized.  Finally, for multivariable systems the signal
        index can be given as a list, for example '(subsys_i, [inp_j1, ...,
        inp_jn])'; as a slice, for example, 'sys.sig[i:j]'; or as a base
        inp_jn])';oras a slice, for example, 'sys.sig[i:j]'; or as a base
        name `sys.sig` (which matches `sys.sig[i]`).

        Similarly, each output-spec should describe an output signal from
    If a system is duplicated in the list of systems to be connected,
    a warning is generated and a copy of the system is created with the
    name of the new system determined by adding the prefix and suffix
    strings in config.defaults['iosys.linearized_system_name_prefix']
    and config.defaults['iosys.linearized_system_name_suffix'], with the
    strings in config.defaults['iosys.duplicate_system_name_prefix']
    and config.defaults['iosys.duplicate_system_name_suffix'], with the
    default being to add the suffix '$copy' to the system name.

    In addition to explicit lists of system signals, it is possible to

    dt = kwargs.pop('dt', None)         # bypass normal 'dt' processing
    name, inputs, outputs, states, _ = _process_iosys_keywords(kwargs)
    connection_type = None # explicit, implicit, or None

    if not check_unused and (ignore_inputs or ignore_outputs):
        raise ValueError('check_unused is False, but either '
                         + 'ignore_inputs or ignore_outputs non-empty')

    if connections is False and not inplist and not outlist \
       and not inputs and not outputs:
    if connections is False and not any((inplist, outlist, inputs, outputs)):
        # user has disabled auto-connect, and supplied neither input
        # nor output mappings; assume they know what they're doing
        check_unused = False

    # If connections was not specified, set up default connection list
    # If connections was not specified, assume implicit interconnection.
    # set up default connection list
    if connections is None:
        connection_type = 'implicit'
        # For each system input, look for outputs with the same name
        connections = []
        for input_sys in syslist:
                if len(connect) > 1:
                    connections.append(connect)

        auto_connect = True

    elif connections is False:
        check_unused = False
        # Use an empty connections list
        connections = []

    elif isinstance(connections, list) and \
         all([isinstance(cnxn, (str, tuple)) for cnxn in connections]):
        # Special case where there is a single connection
        connections = [connections]
    else:
        connection_type = 'explicit'
        if isinstance(connections, list) and \
                all([isinstance(cnxn, (str, tuple)) for cnxn in connections]):
            # Special case where there is a single connection
            connections = [connections]

    # If inplist/outlist is not present, try using inputs/outputs instead
    inplist_none, outlist_none = False, False
        syslist, connections=connections, inplist=inplist,
        outlist=outlist, inputs=inputs, outputs=outputs, states=states,
        params=params, dt=dt, name=name, warn_duplicate=warn_duplicate,
        **kwargs)
 connection_type=connection_type,**kwargs)

    # See if we should add any signals
    if add_unused:
            syslist, connections=connections, inplist=inplist,
            outlist=outlist, inputs=inputs, outputs=outputs, states=states,
            params=params, dt=dt, name=name, warn_duplicate=warn_duplicate,
            **kwargs)
 connection_type=connection_type,**kwargs)

    # check for implicitly dropped signals
    if check_unused:
        newsys.check_unused_signals(ignore_inputs, ignore_outputs)

    # If all subsystems are linear systems, maintain linear structure
    if all([isinstance(sys, StateSpace) for sys in newsys.syslist]):
 returnLinearICSystem(newsys, None)
 newsys =LinearICSystem(newsys, None, connection_type=connection_type)

    return newsys

        return NonlinearIOSystem(
            None, lambda t, x, u, params: sys @ u,
            outputs=sys.shape[0], inputs=sys.shape[1])

 def connection_table(sys, show_names=False, column_width=32):
    """Print table of connections inside an interconnected system model.

    Intended primarily for :class:`InterconnectedSystems` that have been
    connected implicitly using signal names.

    Parameters
    ----------
    sys : :class:`InterconnectedSystem`
        Interconnected system object
    show_names : bool, optional
        Instead of printing out the system number, print out the name of
        each system. Default is False because system name is not usually
        specified when performing implicit interconnection using
        :func:`interconnect`.
    column_width : int, optional
        Character width of printed columns.


    Examples
    --------
    >>> P = ct.ss(1,1,1,0, inputs='u', outputs='y', name='P')
    >>> C = ct.tf(10, [.1, 1], inputs='e', outputs='u', name='C')
    >>> L = ct.interconnect([C, P], inputs='e', outputs='y')
    >>> L.connection_table(show_names=True) # doctest: +SKIP
    signal    | source                  | destination
    --------------------------------------------------------------
    e         | input                   | C
    u         | C                       | P
    y         | P                       | output
    """
    assert isinstance(sys, InterconnectedSystem), "system must be"\
        "an InterconnectedSystem."

    sys.connection_table(show_names=show_names, column_width=column_width)
diff --git a/control/statesp.py b/control/statesp.py

    """

    def __init__(self, io_sys, ss_sys=None):
    def __init__(self, io_sys, ss_sys=None, connection_type=None):
        #
        # Because this is a "hybrid" object, the initialization proceeds in
        # stages.  We first create an empty InputOutputSystem of the
        self.input_map = io_sys.input_map
        self.output_map = io_sys.output_map
        self.params = io_sys.params
        self.connection_type = connection_type

        # If we didnt' get a state space system, linearize the full system
        if ss_sys is None:
Original file line number	Diff line number	Diff line change
Expand Up		@@ -539,7 +539,7 @@ def isctime(sys, strict=False):
		return sys.isctime(strict)


		# Utility function to parsenameio keywords
		# Utility function to parseiosys keywords
		def _process_iosys_keywords(
		keywords={}, defaults={}, static=False, end=False):
		"""Process iosys specification.
Expand DownExpand Up		@@ -611,7 +611,7 @@ def pop_with_default(kw, defval=None, return_list=True):
		return name, inputs, outputs, states, dt

		#
		# Parse 'dt'infor named I/O system
		# Parse 'dt' for I/O system
		#
		# The 'dt' keyword is used to set the timebase for a system. Its
		# processing is a bit unusual: if it is not specified at all, then the
Expand Down
Original file line number	Diff line number	Diff line change
Expand Up		@@ -31,7 +31,7 @@

		__all__ = ['NonlinearIOSystem', 'InterconnectedSystem', 'nlsys',
		'input_output_response', 'find_eqpt', 'linearize',
		'interconnect']
		'interconnect', 'connection_table']


		class NonlinearIOSystem(InputOutputSystem):
Expand DownExpand Up		@@ -395,7 +395,7 @@ def dynamics(self, t, x, u, params=None):
		current state
		u : array_like
		input
		params : dict (optional)
		params : dict,optional
		system parameter values

		Returns
Expand DownExpand Up		@@ -436,7 +436,7 @@ def output(self, t, x, u, params=None):
		current state
		u : array_like
		input
		params : dict (optional)
		params : dict,optional
		system parameter values

		Returns
Expand DownExpand Up		@@ -589,11 +589,14 @@ class InterconnectedSystem(NonlinearIOSystem):

		"""
		def __init__(self, syslist, connections=None, inplist=None, outlist=None,
		params=None, warn_duplicate=None, **kwargs):
		params=None, warn_duplicate=None, connection_type=None,
		**kwargs):
		"""Create an I/O system from a list of systems + connection info."""
		from .statesp import _convert_to_statespace
		from .xferfcn import TransferFunction

		self.connection_type = connection_type # explicit, implicit, or None

		# Convert input and output names to lists if they aren't already
		if inplist is not None and not isinstance(inplist, list):
		inplist = [inplist]
Expand DownExpand Up		@@ -1001,6 +1004,80 @@ def unused_signals(self):
		return ({inputs[i][:2]: inputs[i][2] for i in unused_sysinp},
		{outputs[i][:2]: outputs[i][2] for i in unused_sysout})

		def connection_table(self, show_names=False, column_width=32):
		"""Print table of connections inside an interconnected system model.

		Intended primarily for :class:`InterconnectedSystems` that have been
		connected implicitly using signal names.

		Parameters
		----------
		show_names : bool, optional
		Instead of printing out the system number, print out the name of
		each system. Default is False because system name is not usually
		specified when performing implicit interconnection using
		:func:`interconnect`.
		column_width : int, optional
		Character width of printed columns.

		Examples
		--------
		>>> P = ct.ss(1,1,1,0, inputs='u', outputs='y', name='P')
		>>> C = ct.tf(10, [.1, 1], inputs='e', outputs='u', name='C')
		>>> L = ct.interconnect([C, P], inputs='e', outputs='y')
		>>> L.connection_table(show_names=True) # doctest: +SKIP
		signal \| source \| destination
		--------------------------------------------------------------------
		e \| input \| C
		u \| C \| P
		y \| P \| output
		"""

		print('signal'.ljust(10) + '\| source'.ljust(column_width) + \
		'\| destination')
		print('-'(10 + column_width 2))

		# TODO: update this method for explicitly-connected systems
		if not self.connection_type == 'implicit':
		warn('connection_table only gives useful output for implicitly-'\
		'connected systems')

		# collect signal labels
		signal_labels = []
		for sys in self.syslist:
		signal_labels += sys.input_labels + sys.output_labels
		signal_labels = set(signal_labels)

		for signal_label in signal_labels:
		print(signal_label.ljust(10), end='')
		sources = '\| '
		dests = '\| '

		# overall interconnected system inputs and outputs
		if self.find_input(signal_label) is not None:
		sources += 'input'
		if self.find_output(signal_label) is not None:
		dests += 'output'

		# internal connections
		for idx, sys in enumerate(self.syslist):
		loc = sys.find_output(signal_label)
		if loc is not None:
		if not sources.endswith(' '):
		sources += ', '
		sources += sys.name if show_names else 'system ' + str(idx)
		loc = sys.find_input(signal_label)
		if loc is not None:
		if not dests.endswith(' '):
		dests += ', '
		dests += sys.name if show_names else 'system ' + str(idx)
		if len(sources) >= column_width:
		sources = sources[:column_width - 3] + '.. '
		print(sources.ljust(column_width), end='')
		if len(dests) > column_width:
		dests = dests[:column_width - 3] + '.. '
		print(dests.ljust(column_width), end='\n')

		def _find_inputs_by_basename(self, basename):
		"""Find all subsystem inputs matching basename

Expand DownExpand Up		@@ -1955,7 +2032,7 @@ def interconnect(
		signals are given names, then the forms 'sys.sig' or ('sys', 'sig')
		are also recognized. Finally, for multivariable systems the signal
		index can be given as a list, for example '(subsys_i, [inp_j1, ...,
		inp_jn])'; as a slice, for example, 'sys.sig[i:j]'; or as a base
		inp_jn])';oras a slice, for example, 'sys.sig[i:j]'; or as a base
Copy link Member murrayrmAug 19, 2023 Choose a reason for hiding this comment The reason will be displayed to describe this comment to others.Learn more. Wasn't this correct before? Now it says 'a; or b; or c' instead of 'a; b; or c'.
		name `sys.sig` (which matches `sys.sig[i]`).

		Similarly, each output-spec should describe an output signal from
Expand DownExpand Up		@@ -2132,8 +2209,8 @@ def interconnect(
		If a system is duplicated in the list of systems to be connected,
		a warning is generated and a copy of the system is created with the
		name of the new system determined by adding the prefix and suffix
		strings in config.defaults['iosys.linearized_system_name_prefix']
		and config.defaults['iosys.linearized_system_name_suffix'], with the
		strings in config.defaults['iosys.duplicate_system_name_prefix']
		and config.defaults['iosys.duplicate_system_name_suffix'], with the
		default being to add the suffix '$copy' to the system name.

		In addition to explicit lists of system signals, it is possible to
Expand DownExpand Up		@@ -2167,19 +2244,21 @@ def interconnect(

		dt = kwargs.pop('dt', None) # bypass normal 'dt' processing
		name, inputs, outputs, states, _ = _process_iosys_keywords(kwargs)
		connection_type = None # explicit, implicit, or None

		if not check_unused and (ignore_inputs or ignore_outputs):
		raise ValueError('check_unused is False, but either '
		+ 'ignore_inputs or ignore_outputs non-empty')

		if connections is False and not inplist and not outlist \
		and not inputs and not outputs:
		if connections is False and not any((inplist, outlist, inputs, outputs)):
		# user has disabled auto-connect, and supplied neither input
		# nor output mappings; assume they know what they're doing
		check_unused = False

		# If connections was not specified, set up default connection list
		# If connections was not specified, assume implicit interconnection.
		# set up default connection list
		if connections is None:
		connection_type = 'implicit'
		# For each system input, look for outputs with the same name
		connections = []
		for input_sys in syslist:
Expand All		@@ -2191,17 +2270,17 @@ def interconnect(
		if len(connect) > 1:
		connections.append(connect)

		auto_connect = True

		elif connections is False:
		check_unused = False
		# Use an empty connections list
		connections = []

		elif isinstance(connections, list) and \
		all([isinstance(cnxn, (str, tuple)) for cnxn in connections]):
		# Special case where there is a single connection
		connections = [connections]
		else:
		connection_type = 'explicit'
		if isinstance(connections, list) and \
		all([isinstance(cnxn, (str, tuple)) for cnxn in connections]):
		# Special case where there is a single connection
		connections = [connections]

		# If inplist/outlist is not present, try using inputs/outputs instead
		inplist_none, outlist_none = False, False
Expand DownExpand Up		@@ -2436,7 +2515,7 @@ def interconnect(
		syslist, connections=connections, inplist=inplist,
		outlist=outlist, inputs=inputs, outputs=outputs, states=states,
		params=params, dt=dt, name=name, warn_duplicate=warn_duplicate,
		**kwargs)
		connection_type=connection_type,**kwargs)

		# See if we should add any signals
		if add_unused:
Expand All		@@ -2457,15 +2536,15 @@ def interconnect(
		syslist, connections=connections, inplist=inplist,
		outlist=outlist, inputs=inputs, outputs=outputs, states=states,
		params=params, dt=dt, name=name, warn_duplicate=warn_duplicate,
		**kwargs)
		connection_type=connection_type,**kwargs)

		# check for implicitly dropped signals
		if check_unused:
		newsys.check_unused_signals(ignore_inputs, ignore_outputs)

		# If all subsystems are linear systems, maintain linear structure
		if all([isinstance(sys, StateSpace) for sys in newsys.syslist]):
		returnLinearICSystem(newsys, None)
		newsys =LinearICSystem(newsys, None, connection_type=connection_type)

		return newsys

Expand DownExpand Up		@@ -2500,3 +2579,39 @@ def _convert_static_iosystem(sys):
		return NonlinearIOSystem(
		None, lambda t, x, u, params: sys @ u,
		outputs=sys.shape[0], inputs=sys.shape[1])

		def connection_table(sys, show_names=False, column_width=32):
		"""Print table of connections inside an interconnected system model.

		Intended primarily for :class:`InterconnectedSystems` that have been
		connected implicitly using signal names.

		Parameters
		----------
		sys : :class:`InterconnectedSystem`
		Interconnected system object
		show_names : bool, optional
		Instead of printing out the system number, print out the name of
		each system. Default is False because system name is not usually
		specified when performing implicit interconnection using
		:func:`interconnect`.
		column_width : int, optional
		Character width of printed columns.


		Examples
		--------
		>>> P = ct.ss(1,1,1,0, inputs='u', outputs='y', name='P')
		>>> C = ct.tf(10, [.1, 1], inputs='e', outputs='u', name='C')
		>>> L = ct.interconnect([C, P], inputs='e', outputs='y')
		>>> L.connection_table(show_names=True) # doctest: +SKIP
		signal \| source \| destination
		--------------------------------------------------------------
		e \| input \| C
		u \| C \| P
		y \| P \| output
		"""
		assert isinstance(sys, InterconnectedSystem), "system must be"\
		"an InterconnectedSystem."

		sys.connection_table(show_names=show_names, column_width=column_width)
Original file line number	Diff line number	Diff line change
Expand Up		@@ -1459,7 +1459,7 @@ class LinearICSystem(InterconnectedSystem, StateSpace):

		"""

		def __init__(self, io_sys, ss_sys=None):
		def __init__(self, io_sys, ss_sys=None, connection_type=None):
Copy link Member murrayrmAug 19, 2023 Choose a reason for hiding this comment The reason will be displayed to describe this comment to others.Learn more. Is there a reason to allow the connection type to be overridden? It seems like this should just be inherited from the underlying`InterconnectedSystem`.
		#
		# Because this is a "hybrid" object, the initialization proceeds in
		# stages. We first create an empty InputOutputSystem of the
Expand All		@@ -1483,6 +1483,7 @@ def __init__(self, io_sys, ss_sys=None):
		self.input_map = io_sys.input_map
		self.output_map = io_sys.output_map
		self.params = io_sys.params
		self.connection_type = connection_type

		# If we didnt' get a state space system, linearize the full system
		if ss_sys is None:
Expand Down