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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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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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inherit _rhs and _out methods rather than duplicate them in LinearIOS… 
…ystem
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@sawyerbfuller
sawyerbfuller committed Nov 8, 2022
commit 9baafd5b759a5ee20722479b76f941e81510bf5d
14 changes: 3 additions & 11 deletions control/iosys.py
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Original file line number Diff line number Diff line change
Expand Up @@ -679,17 +679,9 @@ def _update_params(self, params={}, warning=True):
if params and warning:
warn("Parameters passed to LinearIOSystems are ignored.")

def _rhs(self, t, x, u, params={}):
# Convert input to column vector in case A, B are numpy matrix
output = self.A @ np.reshape(x, (-1, 1)) \
+ self.B @ np.reshape(u, (-1, 1))
return np.array(output).reshape((-1,)) # change output to 1D array

def _out(self, t, x, u, params={}):
# Convert input to column vector in case A, B are numpy matrix
y = self.C @ np.reshape(x, (-1, 1)) \
+ self.D @ np.reshape(u, (-1, 1))
return np.array(y).reshape((-1,)) # change output to 1D array
# inherit methods as necessary
_rhs = StateSpace._rhs
_out = StateSpace._out

def __repr__(self):
# Need to define so that I/O system gets used instead of StateSpace
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