From 89dcf3c13b16b76db7807c95979094d9d02d4f33 Mon Sep 17 00:00:00 2001 From: Richard Murray Date: Fri, 19 Mar 2021 19:19:40 -0700 Subject: [PATCH] change u == 0 test to avoid py3.8+ syntax warning --- control/statesp.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/control/statesp.py b/control/statesp.py index 2445cd865..b86219030 100644 --- a/control/statesp.py +++ b/control/statesp.py @@ -1238,7 +1238,7 @@ def dcgain(self, warn_infinite=False): """ return self._dcgain(warn_infinite) - def dynamics(self, t, x, u=0): + def dynamics(self, t, x, u=None): """Compute the dynamics of the system Given input `u` and state `x`, returns the dynamics of the state-space @@ -1274,7 +1274,7 @@ def dynamics(self, t, x, u=0): x = np.reshape(x, (-1, 1)) # force to a column in case matrix if np.size(x) != self.nstates: raise ValueError("len(x) must be equal to number of states") - if u is 0: + if u is None: return self.A.dot(x).reshape((-1,)) # return as row vector else: # received t, x, and u, ignore t u = np.reshape(u, (-1, 1)) # force to a column in case matrix @@ -1283,7 +1283,7 @@ def dynamics(self, t, x, u=0): return self.A.dot(x).reshape((-1,)) \ + self.B.dot(u).reshape((-1,)) # return as row vector - def output(self, t, x, u=0): + def output(self, t, x, u=None): """Compute the output of the system Given input `u` and state `x`, returns the output `y` of the @@ -1317,7 +1317,7 @@ def output(self, t, x, u=0): if np.size(x) != self.nstates: raise ValueError("len(x) must be equal to number of states") - if u is 0: + if u is None: return self.C.dot(x).reshape((-1,)) # return as row vector else: # received t, x, and u, ignore t u = np.reshape(u, (-1, 1)) # force to a column in case matrix pFad - Phonifier reborn

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