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fix to insure that when a StateSpace and a LinearIOSystem are combined, the result is a LinearIOSystem #785

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sawyerbfuller wants to merge 7 commits into from
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fix to insure that when a StateSpace and a LinearIOSystem are combined, the result is a LinearIOSystem #785

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c94828a
add support for params more consistently in _rhs and _out methods
sawyerbfuller Nov 7, 2022
826916d
added standard style of parameter handling for iosystem.__call__, add…
sawyerbfuller Nov 7, 2022
bdfb6b5
_rhs, _out, and other additions to StateSpace Systems to be compatibl…
sawyerbfuller Nov 7, 2022
3df0567
docstring fix
sawyerbfuller Nov 7, 2022
dc633d0
added unit test
sawyerbfuller Nov 7, 2022
98fba6e
use standard method to assess whether a system is a static gain, so t…
sawyerbfuller Nov 8, 2022
9baafd5
inherit _rhs and _out methods rather than duplicate them in LinearIOS…
sawyerbfuller Nov 8, 2022
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added standard style of parameter handling for iosystem.__call__, add… 
…ed _current_params to iosys class
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@sawyerbfuller @bnavigator
sawyerbfuller authored and bnavigator committed Nov 8, 2022
commit 826916d35d2061bd4c6ee8eb6ddfe107342a215b
9 changes: 3 additions & 6 deletions control/iosys.py
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Original file line number Diff line number Diff line change
Expand Up @@ -149,6 +149,7 @@ def __init__(self, params={}, **kwargs):

# default parameters
self.params = params.copy()
self._current_params = self.params.copy()

def __mul__(sys2, sys1):
"""Multiply two input/output systems (series interconnection)"""
Expand Down Expand Up @@ -804,7 +805,7 @@ def __str__(self):
f"Output: {self.outfcn}"

# Return the value of a static nonlinear system
def __call__(sys, u, params=None, squeeze=None):
def __call__(sys, u, params={}, squeeze=None):
"""Evaluate a (static) nonlinearity at a given input value

If a nonlinear I/O system has no internal state, then evaluating the
Expand All @@ -830,12 +831,8 @@ def __call__(sys, u, params=None, squeeze=None):
"function evaluation is only supported for static "
"input/output systems")

# If we received any parameters, update them before calling _out()
if params is not None:
sys._update_params(params)

# Evaluate the function on the argument
out = sys._out(0, np.array((0,)), np.asarray(u))
out = sys._out(0, np.array((0,)), np.asarray(u), params)
_, out = _process_time_response(
None, out, issiso=sys.issiso(), squeeze=squeeze)
return out
Expand Down