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GeezerVison is showing github.com — Fix timebase bug in InterconnectedSystem (issue #754) by murrayrm · Pull Request #755 · python-control/python-control

Fix timebase bug in InterconnectedSystem (issue #754) #755

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Merged
bnavigator merged 3 commits into python-control:main from murrayrm:timebase_bug-03Aug2022
Aug 6, 2022

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Fix timebase bug in InterconnectedSystem (issue #754) #755

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f17c919
fix timebase bug in InterconnectedSystem (issue #754)
murrayrm Aug 4, 2022
3c13f2c
add additional checks for overriding timebase
murrayrm Aug 4, 2022
cf30479
added tests for dt=True case per @sawyerbfuller suggestion
murrayrm Aug 4, 2022
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7 changes: 5 additions & 2 deletions 7 control/iosys.py
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Original file line number Diff line number Diff line change
Expand Up @@ -871,9 +871,12 @@ def __init__(self, syslist, connections=[], inplist=[], outlist=[],
if not isinstance(outlist, (list, tuple)):
outlist = [outlist]

# Process keyword arguments
# Check if dt argument was given; if not, pull from systems
dt = kwargs.pop('dt', None)

# Process keyword arguments (except dt)
defaults = {'inputs': len(inplist), 'outputs': len(outlist)}
name, inputs, outputs, states, dt = _process_namedio_keywords(
name, inputs, outputs, states, _ = _process_namedio_keywords(
kwargs, defaults, end=True)

# Initialize the system list and index
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69 changes: 69 additions & 0 deletions 69 control/tests/timebase_test.py
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@@ -0,0 +1,69 @@
import pytest
import inspect
import numpy as np
import control as ct

@pytest.mark.parametrize(
"dt1, dt2, dt3", [
(0, 0, 0),
(0, 0.1, ValueError),
(0, None, 0),
(0, True, ValueError),
(0.1, 0, ValueError),
(0.1, 0.1, 0.1),
(0.1, None, 0.1),
(0.1, True, 0.1),
(None, 0, 0),
(None, 0.1, 0.1),
(None, None, None),
(None, True, True),
(True, 0, ValueError),
(True, 0.1, 0.1),
(True, None, True),
(True, True, True),
(0.2, None, 0.2),
(0.2, 0.1, ValueError),
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@sawyerbfuller sawyerbfuller Aug 4, 2022

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Great PR. Would be good to add tests for dt=True, which are compatible with all other discrete-time timebases. https://python-control.readthedocs.io/en/0.9.2/conventions.html

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@murrayrm murrayrm Aug 4, 2022

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Great suggestion. Done.

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])
@pytest.mark.parametrize("op", [ct.series, ct.parallel, ct.feedback])
@pytest.mark.parametrize("type", [ct.StateSpace, ct.ss, ct.tf])
def test_composition(dt1, dt2, dt3, op, type):
# Define the system
A, B, C, D = [[1, 1], [0, 1]], [[0], [1]], [[1, 0]], 0
sys1 = ct.StateSpace(A, B, C, D, dt1)
sys2 = ct.StateSpace(A, B, C, D, dt2)

# Convert to the desired form
sys1 = type(sys1)
sys2 = type(sys2)

if inspect.isclass(dt3) and issubclass(dt3, Exception):
with pytest.raises(dt3, match="incompatible timebases"):
sys3 = op(sys1, sys2)
else:
sys3 = op(sys1, sys2)
assert sys3.dt == dt3


@pytest.mark.parametrize("dt", [None, 0, 0.1])
def test_composition_override(dt):
# Define the system
A, B, C, D = [[1, 1], [0, 1]], [[0], [1]], [[1, 0]], 0
sys1 = ct.ss(A, B, C, D, None, inputs='u1', outputs='y1')
sys2 = ct.ss(A, B, C, D, None, inputs='y1', outputs='y2')

# Show that we can override the type
sys3 = ct.interconnect([sys1, sys2], inputs='u1', outputs='y2', dt=dt)
assert sys3.dt == dt

# Overriding the type with an inconsistent type generates an error
sys1 = ct.StateSpace(A, B, C, D, 0.1, inputs='u1', outputs='y1')
if dt != 0.1 and dt is not None:
with pytest.raises(ValueError, match="incompatible timebases"):
sys3 = ct.interconnect(
[sys1, sys2], inputs='u1', outputs='y2', dt=dt)

sys1 = ct.StateSpace(A, B, C, D, 0, inputs='u1', outputs='y1')
if dt != 0 and dt is not None:
with pytest.raises(ValueError, match="incompatible timebases"):
sys3 = ct.interconnect(
[sys1, sys2], inputs='u1', outputs='y2', dt=dt)
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