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Merge branch 'python-control:main' into system-norms
2 parents 457c623 + a8a54d1 commit adcb486

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‎.github/conda-env/build-env.yml‎

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@@ -1,4 +1,4 @@
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name: build-env
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dependencies:
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- boa
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- numpy !=1.23.0
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- numpy

‎.github/conda-env/doctest-env.yml‎

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name: test-env
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name: doctest-env
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dependencies:
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- conda-build # for conda index
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- pip
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- coverage
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- coveralls
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- pytest
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- pytest-cov
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- pytest-timeout
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- pytest-xvfb
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- numpy

‎.github/conda-env/test-env.yml‎

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name: test-env
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dependencies:
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- conda-build # for conda index
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- pip
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- coverage
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- coveralls
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- pytest
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- pytest-cov
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- pytest-timeout

‎.github/workflows/control-slycot-src.yml‎

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@@ -14,7 +14,7 @@ jobs:
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- name: Set up Python
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uses: actions/setup-python@v4
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with:
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python-version: '3.11'
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python-version: '3.12'
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- name: Install Python dependencies and test tools
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run: pip install -v './python-control[test]'
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‎.github/workflows/doctest.yml‎

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@@ -15,8 +15,8 @@ jobs:
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- name: Setup Conda
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uses: conda-incubator/setup-miniconda@v2
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with:
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python-version: 3.11
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activate-environment: test-env
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python-version: 3.12
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activate-environment: doctest-env
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environment-file: .github/conda-env/doctest-env.yml
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miniforge-version: latest
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miniforge-variant: Mambaforge
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- name: Run doctest
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shell: bash -l {0}
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env:
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MPLBACKEND: ${{ matrix.mplbackend }}
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working-directory: doc
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run: |
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make html

‎.github/workflows/install_examples.yml‎

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@@ -18,7 +18,7 @@ jobs:
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--channel conda-forge \
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--strict-channel-priority \
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--quiet --yes \
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python=3.11 pip \
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python=3.12 pip \
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numpy matplotlib scipy \
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slycot pmw jupyter
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‎.github/workflows/os-blas-test-matrix.yml‎

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Original file line numberDiff line numberDiff line change
@@ -21,24 +21,24 @@ jobs:
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- 'ubuntu'
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- 'macos'
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python:
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- '3.8'
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- '3.11'
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- '3.10'
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- '3.12'
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bla_vendor: [ 'unset' ]
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include:
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- os: 'ubuntu'
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python: '3.11'
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python: '3.12'
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bla_vendor: 'Generic'
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- os: 'ubuntu'
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python: '3.11'
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python: '3.12'
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bla_vendor: 'OpenBLAS'
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- os: 'macos'
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python: '3.11'
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python: '3.12'
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bla_vendor: 'Apple'
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- os: 'macos'
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python: '3.11'
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python: '3.12'
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bla_vendor: 'Generic'
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- os: 'macos'
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python: '3.11'
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python: '3.12'
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bla_vendor: 'OpenBLAS'
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steps:
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- 'macos'
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- 'windows'
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python:
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- '3.9'
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# build on one, expand matrix in conda-build from the Sylcot/conda-recipe/conda_build_config.yaml
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- '3.11'
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steps:
@@ -133,14 +133,14 @@ jobs:
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shell: bash -l {0}
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run: |
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set -e
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numpyversion=$(python -c 'import numpy; print(numpy.version.version)')
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conda mambabuild --python "${{ matrix.python }}" --numpy $numpyversion conda-recipe
136+
conda mambabuild conda-recipe
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# preserve directory structure for custom conda channel
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find "${CONDA_PREFIX}/conda-bld" -maxdepth 2 -name 'slycot*.tar.bz2' | while read -r conda_pkg; do
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conda_platform=$(basename $(dirname "${conda_pkg}"))
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mkdir -p "slycot-conda-pkgs/${conda_platform}"
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cp "${conda_pkg}" "slycot-conda-pkgs/${conda_platform}/"
143142
done
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conda index --no-progress ./slycot-conda-pkgs
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- name: Save to local conda pkg channel
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uses: actions/upload-artifact@v3
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with:
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- name: Install Wheel
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run: |
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python -m pip install --upgrade pip
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pip install matplotlib scipy pytest pytest-cov pytest-timeout coverage coveralls
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pip install matplotlib scipy pytest pytest-cov pytest-timeout coverage
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pip install slycot-wheels/${{ matrix.packagekey }}/slycot*.whl
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pip show slycot
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- name: Test with pytest
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echo "libblas * *mkl" >> $CONDA_PREFIX/conda-meta/pinned
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;;
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esac
319-
conda index --no-progress ./slycot-conda-pkgs
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mamba install -c ./slycot-conda-pkgs slycot
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conda list
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- name: Test with pytest

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

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max-parallel: 5
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fail-fast: false
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matrix:
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python-version: ['3.8', '3.11']
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python-version: ['3.10', '3.12']
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slycot: ["", "conda"]
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pandas: [""]
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cvxopt: ["", "conda"]
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mplbackend: [""]
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include:
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- python-version: '3.11'
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- python-version: '3.12'
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slycot: conda
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pandas: conda
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cvxopt: conda
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shell: bash -l {0}
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env:
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MPLBACKEND: ${{ matrix.mplbackend }}
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run: pytest -v --cov=control --cov-config=.coveragerc control/tests
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run: |
65+
pytest -v --cov=control --cov-config=.coveragerc control/tests
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coverage xml
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- name: Coveralls parallel
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# https://github.com/coverallsapp/github-action
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uses: AndreMiras/coveralls-python-action@develop
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- name: report coverage
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uses: coverallsapp/github-action@v2
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with:
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flag-name: conda-pytest_py${{ matrix.python-version }}_${{ matrix.slycot || 'no' }}-Slycot_${{ matrix.pandas || 'no' }}-Pandas_${{ matrix.cvxopt || 'no' }}_CVXOPT-${{ matrix.mplbackend && format('; {0}', matrix.mplbackend) }}
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parallel: true
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file: coverage.xml
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coveralls:
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name: coveralls completion
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needs: test-linux-conda
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coveralls-final:
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name: Finalize parallel coveralls
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if: always()
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needs:
79+
- test-linux-conda
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runs-on: ubuntu-latest
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steps:
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- name: Coveralls Finished
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uses: AndreMiras/coveralls-python-action@develop
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uses: coverallsapp/github-action@v2
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with:
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parallel-finished: true
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parallel-finished: true
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‎control/config.py‎

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@@ -48,6 +48,20 @@ def __missing__(self, key):
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else:
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raise KeyError(key)
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51+
# New get function for Python 3.12+ to replicate old behavior
52+
def get(self, key, defval=None):
53+
# If the key exists, return it
54+
if self.__contains__(key):
55+
return self[key]
56+
57+
# If not, see if it is deprecated
58+
repl = self._check_deprecation(key)
59+
if self.__contains__(repl):
60+
return self.get(repl, defval)
61+
62+
# Otherwise, call the usual dict.get() method
63+
return super().get(key, defval)
64+
5165
def _check_deprecation(self, key):
5266
if self.__contains__(f"deprecated.{key}"):
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repl = self[f"deprecated.{key}"]

‎control/flatsys/linflat.py‎

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@@ -119,10 +119,10 @@ def forward(self, x, u, params):
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x = np.reshape(x, (-1, 1))
120120
u = np.reshape(u, (1, -1))
121121
zflag = [np.zeros(self.nstates + 1)]
122-
zflag[0][0] = self.Cf @ x
122+
zflag[0][0] = (self.Cf @ x).item()
123123
H = self.Cf # initial state transformation
124124
for i in range(1, self.nstates + 1):
125-
zflag[0][i] = H @ (self.A @ x + self.B @ u)
125+
zflag[0][i] = (H @ (self.A @ x + self.B @ u)).item()
126126
H = H @ self.A # derivative for next iteration
127127
return zflag
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