diff --git a/control/frdata.py b/control/frdata.py
index a33775afb..c78607a07 100644
--- a/control/frdata.py
+++ b/control/frdata.py
@@ -408,10 +408,6 @@ def __truediv__(self, other):
smooth=(self.ifunc is not None) and
(other.ifunc is not None))
- # TODO: Remove when transition to python3 complete
- def __div__(self, other):
- return self.__truediv__(other)
-
# TODO: Division of MIMO transfer function objects is not written yet.
def __rtruediv__(self, other):
"""Right divide two LTI objects."""
@@ -429,10 +425,6 @@ def __rtruediv__(self, other):
return other / self
- # TODO: Remove when transition to python3 complete
- def __rdiv__(self, other):
- return self.__rtruediv__(other)
-
def __pow__(self, other):
if not type(other) == int:
raise ValueError("Exponent must be an integer")
diff --git a/control/iosys.py b/control/iosys.py
index cbbd4cecc..67cca74de 100644
--- a/control/iosys.py
+++ b/control/iosys.py
@@ -346,6 +346,19 @@ def __neg__(sys):
# Return the newly created system
return newsys
+ def __truediv__(sys2, sys1):
+ """Division of input/output systems
+
+ Only division by scalars and arrays of scalars is supported"""
+ # Note: order of arguments is flipped so that self = sys2,
+ # corresponding to the ordering convention of sys2 * sys1
+
+ if not isinstance(sys1, (LTI, NamedIOSystem)):
+ return sys2 * (1/sys1)
+ else:
+ return NotImplemented
+
+
# Update parameters used for _rhs, _out (used by subclasses)
def _update_params(self, params, warning=False):
if warning:
diff --git a/control/statesp.py b/control/statesp.py
index 7843cb33f..249c6f5e0 100644
--- a/control/statesp.py
+++ b/control/statesp.py
@@ -64,7 +64,7 @@
from .frdata import FrequencyResponseData
from .lti import LTI, _process_frequency_response
from .namedio import common_timebase, isdtime, _process_namedio_keywords, \
- _process_dt_keyword
+ _process_dt_keyword, NamedIOSystem
from . import config
from copy import deepcopy
@@ -794,17 +794,18 @@ def __rmul__(self, other):
pass
raise TypeError("can't interconnect systems")
- # TODO: __div__ and __rdiv__ are not written yet.
- def __div__(self, other):
- """Divide two LTI systems."""
+ # TODO: general __truediv__, and __rtruediv__; requires descriptor system support
+ def __truediv__(self, other):
+ """Division of StateSpace systems
- raise NotImplementedError("StateSpace.__div__ is not implemented yet.")
-
- def __rdiv__(self, other):
- """Right divide two LTI systems."""
+ Only division by TFs, FRDs, scalars, and arrays of scalars is
+ supported.
+ """
+ if not isinstance(other, (LTI, NamedIOSystem)):
+ return self * (1/other)
+ else:
+ return NotImplemented
- raise NotImplementedError(
- "StateSpace.__rdiv__ is not implemented yet.")
def __call__(self, x, squeeze=None, warn_infinite=True):
"""Evaluate system's transfer function at complex frequency.
diff --git a/control/tests/statesp_test.py b/control/tests/statesp_test.py
index 41f0c893a..fa837f30d 100644
--- a/control/tests/statesp_test.py
+++ b/control/tests/statesp_test.py
@@ -333,6 +333,17 @@ def test_multiply_ss(self, sys222, sys322):
np.testing.assert_array_almost_equal(sys.C, C)
np.testing.assert_array_almost_equal(sys.D, D)
+ @pytest.mark.parametrize("k", [2, -3.141, np.float32(2.718), np.array([[4.321], [5.678]])])
+ def test_truediv_ss_scalar(self, sys322, k):
+ """Divide SS by scalar."""
+ sys = sys322 / k
+ syscheck = sys322 * (1/k)
+
+ np.testing.assert_array_almost_equal(sys.A, syscheck.A)
+ np.testing.assert_array_almost_equal(sys.B, syscheck.B)
+ np.testing.assert_array_almost_equal(sys.C, syscheck.C)
+ np.testing.assert_array_almost_equal(sys.D, syscheck.D)
+
@pytest.mark.parametrize("omega, resp",
[(1.,
np.array([[ 4.37636761e-05-0.01522976j,
diff --git a/control/tests/type_conversion_test.py b/control/tests/type_conversion_test.py
index 7163f7097..0deb68f88 100644
--- a/control/tests/type_conversion_test.py
+++ b/control/tests/type_conversion_test.py
@@ -88,11 +88,11 @@ def sys_dict():
('mul', 'flt', ['ss', 'tf', 'frd', 'lio', 'ios', 'arr', 'flt']),
# op left ss tf frd lio ios arr flt
- ('truediv', 'ss', ['xs', 'tf', 'frd', 'xio', 'xos', 'xs', 'xs' ]),
+ ('truediv', 'ss', ['xs', 'tf', 'frd', 'xio', 'xos', 'ss', 'ss' ]),
('truediv', 'tf', ['tf', 'tf', 'xrd', 'tf', 'xos', 'tf', 'tf' ]),
('truediv', 'frd', ['frd', 'frd', 'frd', 'frd', 'E', 'frd', 'frd']),
- ('truediv', 'lio', ['xio', 'tf', 'frd', 'xio', 'xio', 'xio', 'xio']),
- ('truediv', 'ios', ['xos', 'xos', 'E', 'xos', 'xos' 'xos', 'xos']),
+ ('truediv', 'lio', ['xio', 'tf', 'frd', 'xio', 'xio', 'lio', 'lio']),
+ ('truediv', 'ios', ['xos', 'xos', 'E', 'xos', 'xos', 'ios', 'ios']),
('truediv', 'arr', ['xs', 'tf', 'frd', 'xio', 'xos', 'arr', 'arr']),
('truediv', 'flt', ['xs', 'tf', 'frd', 'xio', 'xos', 'arr', 'flt'])]
diff --git a/control/xferfcn.py b/control/xferfcn.py
index 84188a63f..a27b46623 100644
--- a/control/xferfcn.py
+++ b/control/xferfcn.py
@@ -702,10 +702,6 @@ def __truediv__(self, other):
return TransferFunction(num, den, dt)
- # TODO: Remove when transition to python3 complete
- def __div__(self, other):
- return TransferFunction.__truediv__(self, other)
-
# TODO: Division of MIMO transfer function objects is not written yet.
def __rtruediv__(self, other):
"""Right divide two LTI objects."""
@@ -724,10 +720,6 @@ def __rtruediv__(self, other):
return other / self
- # TODO: Remove when transition to python3 complete
- def __rdiv__(self, other):
- return TransferFunction.__rtruediv__(self, other)
-
def __pow__(self, other):
if not type(other) == int:
raise ValueError("Exponent must be an integer")
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