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Mark-YeatmanMark-Yeatman
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Merge branch 'main' into passivity-tools
2 parents f7d74b2 + d98ed29 commit 0c361df

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Lines changed: 85 additions & 103 deletions

‎.github/workflows/python-package-conda.yml‎

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@@ -39,13 +39,12 @@ jobs:
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pip install coveralls
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# Install python-control dependencies
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# use conda-forge until https://github.com/numpy/numpy/issues/20233 is resolved
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conda install -c conda-forge numpy matplotlib scipy
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conda install numpy matplotlib scipy
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if [[ '${{matrix.slycot}}' == 'conda' ]]; then
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conda install -c conda-forge slycot
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fi
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if [[ '${{matrix.pandas}}' == 'conda' ]]; then
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conda install -c conda-forge pandas
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conda install pandas
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fi
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if [[ '${{matrix.cvxopt}}' == 'conda' ]]; then
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conda install -c conda-forge cvxopt

‎README.rst‎

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@@ -22,6 +22,18 @@ Python Control Systems Library
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The Python Control Systems Library is a Python module that implements basic
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operations for analysis and design of feedback control systems.
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Have a go now!
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==============
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Try out the examples in the examples folder using the binder service.
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.. image:: https://mybinder.org/badge_logo.svg
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:target: https://mybinder.org/v2/gh/python-control/python-control/HEAD
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Features
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--------
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‎control/iosys.py‎

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@@ -1762,19 +1762,8 @@ def input_output_response(
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warn("initial state too short; padding with zeros")
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X0 = np.hstack([X0, np.zeros(sys.nstates - X0.size)])
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# Check to make sure this is not a static function
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# Compute the number of states
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nstates = _find_size(sys.nstates, X0)
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if nstates == 0:
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# No states => map input to output
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u = U[0] if len(U.shape) == 1 else U[:, 0]
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y = np.zeros((np.shape(sys._out(T[0], X0, u))[0], len(T)))
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for i in range(len(T)):
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u = U[i] if len(U.shape) == 1 else U[:, i]
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y[:, i] = sys._out(T[i], [], u)
1774-
return TimeResponseData(
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T, y, None, U, issiso=sys.issiso(),
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output_labels=sys.output_index, input_labels=sys.input_index,
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transpose=transpose, return_x=return_x, squeeze=squeeze)
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# create X0 if not given, test if X0 has correct shape
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X0 = _check_convert_array(X0, [(nstates,), (nstates, 1)],

‎control/tests/conftest.py‎

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Original file line numberDiff line numberDiff line change
@@ -1,14 +1,13 @@
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"""conftest.py - pytest local plugins and fixtures"""
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3-
from contextlib import contextmanager
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from distutils.version import StrictVersion
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import os
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import sys
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from contextlib import contextmanager
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import matplotlib as mpl
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import numpy as np
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import scipy as sp
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import pytest
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import scipy as sp
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import control
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@@ -18,12 +17,6 @@
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# pytest.param(marks=)
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slycotonly = pytest.mark.skipif(not control.exception.slycot_check(),
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reason="slycot not installed")
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cvxoptonly = pytest.mark.skipif(not control.exception.cvxopt_check(),
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reason="cvxopt not installed")
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noscipy0 = pytest.mark.skipif(StrictVersion(sp.__version__) < "1.0",
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reason="requires SciPy 1.0 or greater")
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nopython2 = pytest.mark.skipif(sys.version_info < (3, 0),
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reason="requires Python 3+")
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matrixfilter = pytest.mark.filterwarnings("ignore:.*matrix subclass:"
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"PendingDeprecationWarning")
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matrixerrorfilter = pytest.mark.filterwarnings("error:.*matrix subclass:"
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# assert that nothing changed it without reverting
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assert control.config.defaults == the_defaults
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@pytest.fixture(scope="function", autouse=TEST_MATRIX_AND_ARRAY,
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params=[pytest.param("arrayout", marks=matrixerrorfilter),
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pytest.param("matrixout", marks=matrixfilter)])
@@ -112,10 +106,10 @@ def editsdefaults():
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@pytest.fixture(scope="function")
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def mplcleanup():
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"""Workaround for python2
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"""Clean up any plots and changes a test may have made to matplotlib.
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python 2 does not like to mix the original mpl decorator with pytest
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fixtures. So we roll our own.
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compare matplotlib.testing.decorators.cleanup() but as a fixture instead
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of a decorator.
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"""
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save = mpl.units.registry.copy()
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try:

‎control/tests/flatsys_test.py‎

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@@ -8,8 +8,6 @@
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created for that purpose.
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"""
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from distutils.version import StrictVersion
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import numpy as np
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import pytest
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import scipy as sp
@@ -118,11 +116,10 @@ def test_kinematic_car(self, vehicle_flat, poly):
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resp = ct.input_output_response(vehicle_flat, T, ud, x0)
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np.testing.assert_array_almost_equal(resp.states, xd, decimal=2)
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121-
# For SciPy 1.0+, integrate equations and compare to desired
122-
if StrictVersion(sp.__version__) >= "1.0":
123-
t, y, x = ct.input_output_response(
124-
vehicle_flat, T, ud, x0, return_x=True)
125-
np.testing.assert_allclose(x, xd, atol=0.01, rtol=0.01)
119+
# integrate equations and compare to desired
120+
t, y, x = ct.input_output_response(
121+
vehicle_flat, T, ud, x0, return_x=True)
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np.testing.assert_allclose(x, xd, atol=0.01, rtol=0.01)
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def test_flat_default_output(self, vehicle_flat):
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# Construct a flat system with the default outputs

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