bugfix: allow sysname override in linearize if copy_names is False

murrayrm · murrayrm · commit 84a1e4dabaf6 · 2024-06-29T14:12:35.000-07:00
diff --git a/control/nlsys.py b/control/nlsys.py
@@ -517,7 +517,7 @@ def feedback(self, other=1, sign=-1, params=None):
         return newsys
 
     def linearize(self, x0, u0, t=0, params=None, eps=1e-6,
-                  name=None, copy_names=False, **kwargs):
+                  copy_names=False, **kwargs):
         """Linearize an input/output system at a given state and input.
 
         Return the linearization of an input/output system at a given state
@@ -582,8 +582,6 @@ def linearize(self, x0, u0, t=0, params=None, eps=1e-6,
         # Set the system name, inputs, outputs, and states
         if copy_names:
             linsys._copy_names(self, prefix_suffix_name='linearized')
-            if name is not None:
-                linsys.name = name
 
         # re-init to include desired signal names if names were provided
         return StateSpace(linsys, **kwargs)
diff --git a/control/tests/iosys_test.py b/control/tests/iosys_test.py
@@ -234,8 +234,8 @@ def test_linearize(self, tsys, kincar):
     @pytest.mark.usefixtures("editsdefaults")
     def test_linearize_named_signals(self, kincar):
         # Full form of the call
-        linearized = kincar.linearize([0, 0, 0], [0, 0], copy_names=True,
-                                      name='linearized')
+        linearized = kincar.linearize(
+            [0, 0, 0], [0, 0], copy_names=True, name='linearized')
         assert linearized.name == 'linearized'
         assert linearized.find_input('v') == 0
         assert linearized.find_input('phi') == 1
@@ -256,8 +256,8 @@ def test_linearize_named_signals(self, kincar):
         assert lin_nocopy.find_state('x') is None
 
         # if signal names are provided, they should override those of kincar
-        linearized_newnames = kincar.linearize([0, 0, 0], [0, 0],
-            name='linearized',
+        linearized_newnames = kincar.linearize(
+            [0, 0, 0], [0, 0], name='linearized',
             copy_names=True, inputs=['v2', 'phi2'], outputs=['x2','y2'])
         assert linearized_newnames.name == 'linearized'
         assert linearized_newnames.find_input('v2') == 0
@@ -269,6 +269,11 @@ def test_linearize_named_signals(self, kincar):
         assert linearized_newnames.find_output('x') is None
         assert linearized_newnames.find_output('y') is None
 
+        # if system name is provided but copy_names is false, override name
+        linearized_newsysname = kincar.linearize(
+            [0, 0, 0], [0, 0], name='newname', copy_names=False)
+        assert linearized_newsysname.name == 'newname'
+
         # Test legacy version as well
         with pytest.warns(UserWarning, match="NumPy matrix class no longer"):
             ct.use_legacy_defaults('0.8.4')
