diff --git a/control/statesp.py b/control/statesp.py
index 41f92ae21..99c5fe9dc 100644
--- a/control/statesp.py
+++ b/control/statesp.py
@@ -170,9 +170,9 @@ class StateSpace(LTI):
The StateSpace class is used to represent state-space realizations of
linear time-invariant (LTI) systems:
-
+
.. math::
-
+
dx/dt &= A x + B u \\
y &= C x + D u
@@ -1561,7 +1561,8 @@ def _convert_to_statespace(sys):
return StateSpace(
ssout[1][:states, :states], ssout[2][:states, :sys.ninputs],
ssout[3][:sys.noutputs, :states], ssout[4], sys.dt,
- inputs=sys.input_labels, outputs=sys.output_labels)
+ inputs=sys.input_labels, outputs=sys.output_labels,
+ name=sys.name)
except ImportError:
# No Slycot. Scipy tf->ss can't handle MIMO, but static
# MIMO is an easy special case we can check for here
@@ -1574,7 +1575,9 @@ def _convert_to_statespace(sys):
for i, j in itertools.product(range(sys.noutputs),
range(sys.ninputs)):
D[i, j] = sys.num[i][j][0] / sys.den[i][j][0]
- return StateSpace([], [], [], D, sys.dt)
+ return StateSpace([], [], [], D, sys.dt,
+ inputs=sys.input_labels, outputs=sys.output_labels,
+ name=sys.name)
else:
if sys.ninputs != 1 or sys.noutputs != 1:
raise TypeError("No support for MIMO without slycot")
@@ -1586,7 +1589,7 @@ def _convert_to_statespace(sys):
sp.signal.tf2ss(squeeze(sys.num), squeeze(sys.den))
return StateSpace(
A, B, C, D, sys.dt, inputs=sys.input_labels,
- outputs=sys.output_labels)
+ outputs=sys.output_labels, name=sys.name)
elif isinstance(sys, FrequencyResponseData):
raise TypeError("Can't convert FRD to StateSpace system.")
diff --git a/control/tests/interconnect_test.py b/control/tests/interconnect_test.py
index 2c29aeaca..3d2f0c7d7 100644
--- a/control/tests/interconnect_test.py
+++ b/control/tests/interconnect_test.py
@@ -68,8 +68,13 @@ def test_interconnect_implicit():
ki = ct.tf(random.uniform(1, 10), [1, 0])
C = ct.tf2io(kp + ki, inputs='e', outputs='u', name='C')
+ # same but static C2
+ C2 = ct.tf(random.uniform(1, 10), 1,
+ inputs='e', outputs='u', name='C2')
+
# Block diagram computation
Tss = ct.feedback(P * C, 1)
+ Tss2 = ct.feedback(P * C2, 1)
# Construct the interconnection explicitly
Tio_exp = ct.interconnect(
@@ -93,6 +98,15 @@ def test_interconnect_implicit():
np.testing.assert_almost_equal(Tio_sum.C, Tss.C)
np.testing.assert_almost_equal(Tio_sum.D, Tss.D)
+ # test whether signal names work for static system C2
+ Tio_sum2 = ct.interconnect(
+ [C2, P, sumblk], inputs='r', outputs='y')
+
+ np.testing.assert_almost_equal(Tio_sum2.A, Tss2.A)
+ np.testing.assert_almost_equal(Tio_sum2.B, Tss2.B)
+ np.testing.assert_almost_equal(Tio_sum2.C, Tss2.C)
+ np.testing.assert_almost_equal(Tio_sum2.D, Tss2.D)
+
# Setting connections to False should lead to an empty connection map
empty = ct.interconnect(
(C, P, sumblk), connections=False, inplist=['r'], outlist=['y'])
@@ -237,17 +251,17 @@ def test_linear_interconnect():
ss_ctrl = ct.ss(1, 2, 1, 2, inputs='e', outputs='u')
ss_plant = ct.ss(1, 2, 1, 2, inputs='u', outputs='y')
nl_ctrl = ct.NonlinearIOSystem(
- lambda t, x, u, params: x*x,
+ lambda t, x, u, params: x*x,
lambda t, x, u, params: u*x, states=1, inputs='e', outputs='u')
nl_plant = ct.NonlinearIOSystem(
- lambda t, x, u, params: x*x,
+ lambda t, x, u, params: x*x,
lambda t, x, u, params: u*x, states=1, inputs='u', outputs='y')
assert isinstance(ct.interconnect((tf_ctrl, tf_plant), inputs='e', outputs='y'), ct.LinearIOSystem)
assert isinstance(ct.interconnect((ss_ctrl, ss_plant), inputs='e', outputs='y'), ct.LinearIOSystem)
assert isinstance(ct.interconnect((tf_ctrl, ss_plant), inputs='e', outputs='y'), ct.LinearIOSystem)
assert isinstance(ct.interconnect((ss_ctrl, tf_plant), inputs='e', outputs='y'), ct.LinearIOSystem)
-
+
assert ~isinstance(ct.interconnect((nl_ctrl, ss_plant), inputs='e', outputs='y'), ct.LinearIOSystem)
assert ~isinstance(ct.interconnect((nl_ctrl, tf_plant), inputs='e', outputs='y'), ct.LinearIOSystem)
assert ~isinstance(ct.interconnect((ss_ctrl, nl_plant), inputs='e', outputs='y'), ct.LinearIOSystem)
diff --git a/control/tests/namedio_test.py b/control/tests/namedio_test.py
index 4925e9790..3203214d6 100644
--- a/control/tests/namedio_test.py
+++ b/control/tests/namedio_test.py
@@ -90,8 +90,10 @@ def test_named_ss():
(lambda t, x, u, params: -x, None),
{'inputs': 2, 'outputs':2, 'states':2}],
[ct.ss, ([[1, 2], [3, 4]], [[0], [1]], [[1, 0]], 0), {}],
+ [ct.ss, ([], [], [], 3), {}], # static system
[ct.StateSpace, ([[1, 2], [3, 4]], [[0], [1]], [[1, 0]], 0), {}],
[ct.tf, ([1, 2], [3, 4, 5]), {}],
+ [ct.tf, (2, 3), {}], # static system
[ct.TransferFunction, ([1, 2], [3, 4, 5]), {}],
])
def test_io_naming(fun, args, kwargs):
@@ -112,7 +114,7 @@ def test_io_naming(fun, args, kwargs):
assert sys_g.name == 'sys[0]'
assert sys_g.input_labels == [f'u[{i}]' for i in range(sys_g.ninputs)]
assert sys_g.output_labels == [f'y[{i}]' for i in range(sys_g.noutputs)]
- if sys_g.nstates:
+ if sys_g.nstates is not None:
assert sys_g.state_labels == [f'x[{i}]' for i in range(sys_g.nstates)]
#
@@ -128,7 +130,7 @@ def test_io_naming(fun, args, kwargs):
sys_r.set_outputs(output_labels)
assert sys_r.output_labels == output_labels
- if sys_g.nstates:
+ if sys_g.nstates is not None:
state_labels = [f'x{i}' for i in range(sys_g.nstates)]
sys_r.set_states(state_labels)
assert sys_r.state_labels == state_labels
@@ -143,7 +145,7 @@ def test_io_naming(fun, args, kwargs):
sys_k = fun(state_labels, output_labels, input_labels, name='mysys')
elif sys_g.nstates is None:
- # Don't pass state labels
+ # Don't pass state labels if TransferFunction
sys_k = fun(
*args, inputs=input_labels, outputs=output_labels, name='mysys')
@@ -155,7 +157,7 @@ def test_io_naming(fun, args, kwargs):
assert sys_k.name == 'mysys'
assert sys_k.input_labels == input_labels
assert sys_k.output_labels == output_labels
- if sys_g.nstates:
+ if sys_g.nstates is not None:
assert sys_k.state_labels == state_labels
#
@@ -193,6 +195,24 @@ def test_io_naming(fun, args, kwargs):
assert sys_tf.input_labels == input_labels
assert sys_tf.output_labels == output_labels
+ #
+ # Convert the system to a LinearIOSystem and make sure labels transfer
+ #
+ if not isinstance(
+ sys_r, (ct.FrequencyResponseData, ct.NonlinearIOSystem)) and \
+ ct.slycot_check():
+ sys_lio = ct.LinearIOSystem(sys_r)
+ assert sys_lio != sys_r
+ assert sys_lio.input_labels == input_labels
+ assert sys_lio.output_labels == output_labels
+
+ # Reassign system and signal names
+ sys_lio = ct.LinearIOSystem(
+ sys_g, inputs=input_labels, outputs=output_labels, name='new')
+ assert sys_lio.name == 'new'
+ assert sys_lio.input_labels == input_labels
+ assert sys_lio.output_labels == output_labels
+
# Internal testing of StateSpace initialization
def test_init_namedif():
@@ -221,14 +241,29 @@ def test_init_namedif():
# Test state space conversion
def test_convert_to_statespace():
- # Set up the initial system
- sys = ct.tf(ct.rss(2, 1, 1))
+ # Set up the initial systems
+ sys = ct.tf(ct.rss(2, 1, 1), inputs='u', outputs='y', name='sys')
+ sys_static = ct.tf(1, 2, inputs='u', outputs='y', name='sys_static')
+
+ # check that name, inputs, and outputs passed through
+ sys_new = ct.ss(sys)
+ assert sys_new.name == 'sys'
+ assert sys_new.input_labels == ['u']
+ assert sys_new.output_labels == ['y']
+ sys_new = ct.ss(sys_static)
+ assert sys_new.name == 'sys_static'
+ assert sys_new.input_labels == ['u']
+ assert sys_new.output_labels == ['y']
# Make sure we can rename system name, inputs, outputs
sys_new = ct.ss(sys, inputs='u', outputs='y', name='new')
assert sys_new.name == 'new'
assert sys_new.input_labels == ['u']
assert sys_new.output_labels == ['y']
+ sys_new = ct.ss(sys_static, inputs='u', outputs='y', name='new')
+ assert sys_new.name == 'new'
+ assert sys_new.input_labels == ['u']
+ assert sys_new.output_labels == ['y']
# Try specifying the state names (via low level test)
with pytest.warns(UserWarning, match="non-unique state space realization"):
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