small changes to fix pytest warnings on py3.11

murrayrm · murrayrm · commit af6e14b22ec6 · 2023-12-29T11:35:50.000-08:00
diff --git a/control/flatsys/linflat.py b/control/flatsys/linflat.py
@@ -119,10 +119,10 @@ def forward(self, x, u, params):
         x = np.reshape(x, (-1, 1))
         u = np.reshape(u, (1, -1))
         zflag = [np.zeros(self.nstates + 1)]
-        zflag[0][0] = self.Cf @ x
+        zflag[0][0] = (self.Cf @ x).item()
         H = self.Cf                     # initial state transformation
         for i in range(1, self.nstates + 1):
-            zflag[0][i] = H @ (self.A @ x + self.B @ u)
+            zflag[0][i] = (H @ (self.A @ x + self.B @ u)).item()
             H = H @ self.A       # derivative for next iteration
         return zflag
 
diff --git a/control/freqplot.py b/control/freqplot.py
@@ -473,7 +473,7 @@ def bode_plot(
     if ax is None:
         with plt.rc_context(_freqplot_rcParams):
             ax_array = fig.subplots(nrows, ncols, squeeze=False)
-            fig.set_tight_layout(True)
+            fig.set_layout_engine('tight')
             fig.align_labels()
 
         # Set up default sharing of axis limits if not specified
diff --git a/control/timeplot.py b/control/timeplot.py
@@ -292,7 +292,7 @@ def time_response_plot(
     if ax is None:
         with plt.rc_context(timeplot_rcParams):
             ax_array = fig.subplots(nrows, ncols, sharex=True, squeeze=False)
-            fig.set_tight_layout(True)
+            fig.set_layout_engine('tight')
             fig.align_labels()
 
     else:
diff --git a/control/timeresp.py b/control/timeresp.py
@@ -1084,7 +1084,7 @@ def forced_response(sys, T=None, U=0., X0=0., transpose=False,
             if U.ndim == 1:
                 U = U.reshape(1, -1)  # pylint: disable=E1103
 
-        # Algorithm: to integrate from time 0 to time dt, with linear
+            # Algorithm: to integrate from time 0 to time dt, with linear
             # interpolation between inputs u(0) = u0 and u(dt) = u1, we solve
             #   xdot = A x + B u,        x(0) = x0
             #   udot = (u1 - u0) / dt,   u(0) = u0.
