diff --git a/control/nlsys.py b/control/nlsys.py
index 358c4b125..a14de1d9c 100644
--- a/control/nlsys.py
+++ b/control/nlsys.py
@@ -2086,10 +2086,8 @@ def interconnect(
inplist : list of input connections, optional
List of connections for how the inputs for the overall system are
- mapped to the subsystem inputs. The input specification is similar to
- the form defined in the connection specification, except that
- connections do not specify an input-spec, since these are the system
- inputs. The entries for a connection are thus of the form:
+ mapped to the subsystem inputs. The entries for a connection are
+ of the form:
[input-spec1, input-spec2, ...]
@@ -2102,11 +2100,10 @@ def interconnect(
outlist : list of output connections, optional
List of connections for how the outputs from the subsystems are
- mapped to overall system outputs. The output connection
- description is the same as the form defined in the inplist
- specification (including the optional gain term). Numbered outputs
- must be chosen from the list of subsystem outputs, but named
- outputs can also be contained in the list of subsystem inputs.
+ mapped to overall system outputs. The entries for a connection are
+ of the form:
+
+ [output-spec1, output-spec2, ...]
If an output connection contains more than one signal specification,
then those signals are added together (multiplying by the any gain
@@ -2219,7 +2216,7 @@ def interconnect(
... inplist=['C'], outlist=['P'])
A feedback system can also be constructed using the
- :func:`~control.summing_block` function and the ability to
+ :func:`~control.summing_junction` function and the ability to
automatically interconnect signals with the same names:
>>> P = ct.tf(1, [1, 0], inputs='u', outputs='y')
@@ -2425,15 +2422,22 @@ def interconnect(
elif not found_system:
raise ValueError("could not find signal %s" % sname)
else:
- # Regular signal specification
- if not isinstance(connection, list):
- dprint(f" converting item to list")
- connection = [connection]
- for spec in connection:
- isys, indices, gain = _parse_spec(syslist, spec, 'input')
+ if isinstance(connection, list):
+ # Passed a list => create input map
+ dprint(f" detected input list")
+ signal_list = []
+ for spec in connection:
+ isys, indices, gain = _parse_spec(syslist, spec, 'input')
+ for isig in indices:
+ signal_list.append((isys, isig, gain))
+ dprint(f" adding input {(isys, isig, gain)} to list")
+ new_inplist.append(signal_list)
+ else:
+ # Passed a single signal name => add individual input(s)
+ isys, indices, gain = _parse_spec(syslist, connection, 'input')
for isig in indices:
- dprint(f" adding input {(isys, isig, gain)}")
new_inplist.append((isys, isig, gain))
+ dprint(f" adding input {(isys, isig, gain)}")
inplist, inputs = new_inplist, new_inputs
dprint(f" {inplist=}\n {inputs=}")
@@ -2499,17 +2503,15 @@ def interconnect(
elif not found_system:
raise ValueError("could not find signal %s" % sname)
else:
- # Regular signal specification
- if not isinstance(connection, list):
- dprint(f" converting item to list")
- connection = [connection]
- for spec in connection:
+ # Utility function to find named output or input signal
+ def _find_output_or_input_signal(spec):
+ signal_list = []
try:
# First trying looking in the output signals
osys, indices, gain = _parse_spec(syslist, spec, 'output')
for osig in indices:
dprint(f" adding output {(osys, osig, gain)}")
- new_outlist.append((osys, osig, gain))
+ signal_list.append((osys, osig, gain))
except ValueError:
# If not, see if we can find it in inputs
isys, indices, gain = _parse_spec(
@@ -2518,9 +2520,21 @@ def interconnect(
for isig in indices:
# Use string form to allow searching input list
dprint(f" adding input {(isys, isig, gain)}")
- new_outlist.append(
+ signal_list.append(
(syslist[isys].name,
syslist[isys].input_labels[isig], gain))
+ return signal_list
+
+ if isinstance(connection, list):
+ # Passed a list => create input map
+ dprint(f" detected output list")
+ signal_list = []
+ for spec in connection:
+ signal_list += _find_output_or_input_signal(spec)
+ new_outlist.append(signal_list)
+ else:
+ new_outlist += _find_output_or_input_signal(connection)
+
outlist, outputs = new_outlist, new_outputs
dprint(f" {outlist=}\n {outputs=}")
diff --git a/control/tests/interconnect_test.py b/control/tests/interconnect_test.py
index f4b0c59a8..604488ca5 100644
--- a/control/tests/interconnect_test.py
+++ b/control/tests/interconnect_test.py
@@ -689,3 +689,19 @@ def test_interconnect_params():
timepts = np.linspace(0, 10)
resp = ct.input_output_response(sys, timepts, 0, params={'a': -1})
assert resp.states[0, -1].item() < 2 * math.exp(-10)
+
+
+# Bug identified in issue #1015
+def test_parallel_interconnect():
+ sys1 = ct.rss(2, 1, 1, name='S1')
+ sys2 = ct.rss(2, 1, 1, name='S2')
+
+ sys_bd = sys1 + sys2
+ sys_ic = ct.interconnect(
+ [sys1, sys2],
+ inplist=[['S1.u[0]', 'S2.u[0]']],
+ outlist=[['S1.y[0]', 'S2.y[0]']])
+ np.testing.assert_allclose(sys_bd.A, sys_ic.A)
+ np.testing.assert_allclose(sys_bd.B, sys_ic.B)
+ np.testing.assert_allclose(sys_bd.C, sys_ic.C)
+ np.testing.assert_allclose(sys_bd.D, sys_ic.D)
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