Apr 8, 2024 · Apr 7, 2024
diff --git a/control/nlsys.py b/control/nlsys.py

        # Create updfcn and outfcn
        def updfcn(t, x, u, params):
            self.update_params(params)
            self._update_params(params)
            return self._rhs(t, x, u)
        def outfcn(t, x, u, params):
            self.update_params(params)
            self._update_params(params)
            return self._out(t, x, u)

        # Initialize NonlinearIOSystem object
diff --git a/control/tests/interconnect_test.py b/control/tests/interconnect_test.py

 import numpy as np
 import scipy as sp
 import math

 import control as ct

        outputs=['y', 'z'])

    assert icsys.input_labels == ['u[0]', 'u[1]', 'w[0]', 'w[1]']


 def test_interconnect_params():
    # Create a nominally unstable system
    sys1 = ct.nlsys(
        lambda t, x, u, params: params['a'] * x[0] + u[0],
        states=1, inputs='u', outputs='y', params={'a': 1})

    # Simple system for serial interconnection
    sys2 = ct.nlsys(
        None, lambda t, x, u, params: u[0],
        inputs='r', outputs='u')

    # Create a series interconnection
    sys = ct.interconnect([sys1, sys2], inputs='r', outputs='y')

    # Make sure we can call the update function
    sys.updfcn(0, [0], [0], {})

    # Make sure the serial interconnection is unstable to start
    assert sys.linearize([0], [0]).poles()[0].real == 1

    # Change the parameter and make sure it takes
    assert sys.linearize([0], [0], params={'a': -1}).poles()[0].real == -1

    # Now try running a simulation
    timepts = np.linspace(0, 10)
    resp = ct.input_output_response(sys, timepts, 0, params={'a': -1})
    assert resp.states[0, -1].item() < 2 * math.exp(-10)
Original file line number	Diff line number	Diff line change
Expand Up		@@ -706,10 +706,10 @@ def __init__(self, syslist, connections=None, inplist=None, outlist=None,

		# Create updfcn and outfcn
		def updfcn(t, x, u, params):
		self.update_params(params)
		self._update_params(params)
		return self._rhs(t, x, u)
		def outfcn(t, x, u, params):
		self.update_params(params)
		self._update_params(params)
		return self._out(t, x, u)

		# Initialize NonlinearIOSystem object
Expand Down
Original file line number	Diff line number	Diff line change
Expand Up		@@ -16,6 +16,7 @@

		import numpy as np
		import scipy as sp
		import math

		import control as ct

Expand DownExpand Up		@@ -659,3 +660,32 @@ def test_interconnect_rewrite():
		outputs=['y', 'z'])

		assert icsys.input_labels == ['u[0]', 'u[1]', 'w[0]', 'w[1]']


		def test_interconnect_params():
		# Create a nominally unstable system
		sys1 = ct.nlsys(
		lambda t, x, u, params: params['a'] * x[0] + u[0],
		states=1, inputs='u', outputs='y', params={'a': 1})

		# Simple system for serial interconnection
		sys2 = ct.nlsys(
		None, lambda t, x, u, params: u[0],
		inputs='r', outputs='u')

		# Create a series interconnection
		sys = ct.interconnect([sys1, sys2], inputs='r', outputs='y')

		# Make sure we can call the update function
		sys.updfcn(0, [0], [0], {})

		# Make sure the serial interconnection is unstable to start
		assert sys.linearize([0], [0]).poles()[0].real == 1

		# Change the parameter and make sure it takes
		assert sys.linearize([0], [0], params={'a': -1}).poles()[0].real == -1

		# Now try running a simulation
		timepts = np.linspace(0, 10)
		resp = ct.input_output_response(sys, timepts, 0, params={'a': -1})
		assert resp.states[0, -1].item() < 2 * math.exp(-10)