10000 Merge pull request #955 from murrayrm/fixwarnings-23Dec2023 · python-control/python-control@9509dfd · GitHub
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Merge pull request #955 from murrayrm/fixwarnings-23Dec2023
Fix CI warnings
2 parents eb0f3f9 + dc74493 commit 9509dfd

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13 files changed

+62
-41
lines changed

13 files changed

+62
-41
lines changed

‎control/flatsys/linflat.py

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -119,10 +119,10 @@ def forward(self, x, u, params):
119119
x = np.reshape(x, (-1, 1))
120120
u = np.reshape(u, (1, -1))
121121
zflag = [np.zeros(self.nstates + 1)]
122-
zflag[0][0] = self.Cf @ x
122+
zflag[0][0] = (self.Cf @ x).item()
123123
H = self.Cf # initial state transformation
124124
for i in range(1, self.nstates + 1):
125-
zflag[0][i] = H @ (self.A @ x + self.B @ u)
125+
zflag[0][i] = (H @ (self.A @ x + self.B @ u)).item()
126126
H = H @ self.A # derivative for next iteration
127127
return zflag
128128

‎control/freqplot.py

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -473,7 +473,7 @@ def bode_plot(
473473
if ax is None:
474474
with plt.rc_context(_freqplot_rcParams):
475475
ax_array = fig.subplots(nrows, ncols, squeeze=False)
476-
fig.set_tight_layout(True)
476+
fig.set_layout_engine('tight')
477477
fig.align_labels()
478478

479479
# Set up default sharing of axis limits if not specified

‎control/optimal.py

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -956,7 +956,7 @@ def solve_ocp(
956956
transpose=None, return_states=True, print_summary=True, log=False,
957957
**kwargs):
958958

959-
"""Compute the solution to an optimal control problem.
959+
r"""Compute the solution to an optimal control problem.
960960
961961
The optimal trajectory (states and inputs) is computed so as to
962962
approximately mimimize a cost function of the following form (for

‎control/robust.py

Lines changed: 7 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -41,6 +41,7 @@
4141

4242
# External packages and modules
4343
import numpy as np
44+
import warnings
4445
from .exception import *
4546
from .statesp import StateSpace
4647
from .statefbk import *
@@ -357,7 +358,12 @@ def augw(g, w1=None, w2=None, w3=None):
357358
# output indices
358359
oi = np.arange(1, 1 + now1 + now2 + now3 + ny)
359360

360-
p = connect(sysall, q, ii, oi)
361+
# Filter out known warning due to use of connect
362+
with warnings.catch_warnings():
363+
warnings.filterwarnings(
364+
'ignore', message="`connect`", category=DeprecationWarning)
365+
366+
p = connect(sysall, q, ii, oi)
361367

362368
return p
363369

‎control/sisotool.py

Lines changed: 5 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -228,7 +228,11 @@ def _SisotoolUpdate(sys, fig, K, bode_plot_params, tvect=None):
228228
sys_closed = append(sys, -K)
229229
connects = [[1, 3],
230230
[3, 1]]
231-
sys_closed = connect(sys_closed, connects, 2, 2)
231+
# Filter out known warning due to use of connect
232+
with warnings.catch_warnings():
233+
warnings.filterwarnings(
234+
'ignore', message="`connect`", category=DeprecationWarning)
235+
sys_closed = connect(sys_closed, connects, 2, 2)
232236
if tvect is None:
233237
tvect, yout = step_response(sys_closed, T_num=100)
234238
else:

‎control/stochsys.py

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -183,14 +183,14 @@ def lqe(*args, **kwargs):
183183

184184
# contributed by Sawyer B. Fuller <minster@uw.edu>
185185
def dlqe(*args, **kwargs):
186-
"""dlqe(A, G, C, QN, RN, [, N])
186+
r"""dlqe(A, G, C, QN, RN, [, N])
187187
188188
Linear quadratic estimator design (Kalman filter) for discrete-time
189189
systems. Given the system
190190
191191
.. math::
192192
193-
x[n+1] &= Ax[n] + Bu[n] + Gw[n] \\\\
193+
x[n+1] &= Ax[n] + Bu[n] + Gw[n] \\
194194
y[n] &= Cx[n] + Du[n] + v[n]
195195
196196
with unbiased process noise w and measurement noise v with covariances

‎control/tests/flatsys_test.py

Lines changed: 11 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -194,14 +194,17 @@ def test_kinematic_car_ocp(
194194
else:
195195
initial_guess = None
196196

197-
# Solve the optimal trajectory
198-
traj_ocp = fs.solve_flat_ocp(
199-
vehicle_flat, timepts, x0, u0,
200-
cost=traj_cost, constraints=input_constraints,
201-
terminal_cost=terminal_cost, basis=basis,
202-
initial_guess=initial_guess,
203-
minimize_kwargs={'method': method},
204-
)
197+
# Solve the optimal trajectory (allow warnings)
198+
with warnings.catch_warnings():
199+
warnings.filterwarnings(
200+
'ignore', message="unable to solve", category=UserWarning)
201+
traj_ocp = fs.solve_flat_ocp(
202+
vehicle_flat, timepts, x0, u0,
203+
cost=traj_cost, constraints=input_constraints,
204+
terminal_cost=terminal_cost, basis=basis,
205+
initial_guess=initial_guess,
206+
minimize_kwargs={'method': method},
207+
)
205208
xd, ud = traj_ocp.eval(timepts)
206209

207210
if not traj_ocp.success:

‎control/tests/freqresp_test.py

Lines changed: 14 additions & 14 deletions
Original file line numberDiff line numberDiff line change
@@ -16,7 +16,8 @@
1616
from control.statesp import StateSpace
1717
from control.xferfcn import TransferFunction
1818
from control.matlab import ss, tf, bode, rss
19-
from control.freqplot import bode_plot, nyquist_plot, singular_values_plot
19+
from control.freqplot import bode_plot, nyquist_plot, nyquist_response, \
20+
singular_values_plot, singular_values_response
2021
from control.tests.conftest import slycotonly
2122

2223
pytestmark = pytest.mark.usefixtures("mplcleanup")
@@ -97,19 +98,17 @@ def test_nyquist_basic(ss_siso):
9798
tf_siso = tf(ss_siso)
9899
nyquist_plot(ss_siso)
99100
nyquist_plot(tf_siso)
100-
count, contour = nyquist_plot(
101-
tf_siso, plot=False, return_contour=True, omega_num=20)
102-
assert len(contour) == 20
101+
response = nyquist_response(tf_siso, omega_num=20)
102+
assert len(response.contour) == 20
103103

104104
with pytest.warns(UserWarning, match="encirclements was a non-integer"):
105105
count, contour = nyquist_plot(
106106
tf_siso, plot=False, omega_limits=(1, 100), return_contour=True)
107107
assert_allclose(contour[0], 1j)
108108
assert_allclose(contour[-1], 100j)
109109

110-
count, contour = nyquist_plot(
111-
tf_siso, plot=False, omega=np.logspace(-1, 1, 10), return_contour=True)
112-
assert len(contour) == 10
110+
response = nyquist_response(tf_siso, omega=np.logspace(-1, 1, 10))
111+
assert len(response.contour) == 10
113112

114113

115114
@pytest.mark.usefixtures("legacy_plot_signature")
@@ -200,7 +199,7 @@ def test_bode_margin(dB, maginfty1, maginfty2, gminv,
200199
den = [1, 25, 100, 0]
201200
sys = ctrl.tf(num, den)
202201
plt.figure()
203-
ctrl.bode_plot(sys, margins=True, dB=dB, deg=deg, Hz=Hz)
202+
ctrl.bode_plot(sys, display_margins=True, dB=dB, deg=deg, Hz=Hz)
204203
fig = plt.gcf()
205204
allaxes = fig.get_axes()
206205

@@ -655,21 +654,22 @@ def tsystem(request, ss_mimo_ct, ss_miso_ct, ss_simo_ct, ss_siso_ct, ss_mimo_dt)
655654
def test_singular_values_plot(tsystem):
656655
sys = tsystem.sys
657656
for omega_ref, sigma_ref in zip(tsystem.omegas, tsystem.sigmas):
658-
sigma, _ = singular_values_plot(sys, omega_ref, plot=False)
657+
response = singular_values_response(sys, omega_ref)
658+
sigma = np.real(response.fresp[:, 0, :])
659659
np.testing.assert_almost_equal(sigma, sigma_ref)
660660

661661

662662
def test_singular_values_plot_mpl_base(ss_mimo_ct, ss_mimo_dt):
663663
sys_ct = ss_mimo_ct.sys
664664
sys_dt = ss_mimo_dt.sys
665665
plt.figure()
666-
singular_values_plot(sys_ct, plot=True)
666+
singular_values_plot(sys_ct)
667667
fig = plt.gcf()
668668
allaxes = fig.get_axes()
669669
assert(len(allaxes) == 1)
670670
assert(allaxes[0].get_label() == 'control-sigma')
671671
plt.figure()
672-
singular_values_plot([sys_ct, sys_dt], plot=True, Hz=True, dB=True, grid=False)
672+
singular_values_plot([sys_ct, sys_dt], Hz=True, dB=True, grid=False)
673673
fig = plt.gcf()
674674
allaxes = fig.get_axes()
675675
assert(len(allaxes) == 1)
@@ -679,10 +679,10 @@ def test_singular_values_plot_mpl_base(ss_mimo_ct, ss_mimo_dt):
679679
def test_singular_values_plot_mpl_superimpose_nyq(ss_mimo_ct, ss_mimo_dt):
680680
sys_ct = ss_mimo_ct.sys
681681
sys_dt = ss_mimo_dt.sys
682-
omega_all = np.logspace(-3, 2, 1000)
682+
omega_all = np.logspace(-3, int(math.log10(2 * math.pi/sys_dt.dt)), 1000)
683683
plt.figure()
684-
singular_values_plot(sys_ct, omega_all, plot=True)
685-
singular_values_plot(sys_dt, omega_all, plot=True)
684+
singular_values_plot(sys_ct, omega_all)
685+
singular_values_plot(sys_dt, omega_all)
686686
fig = plt.gcf()
687687
allaxes = fig.get_axes()
688688
assert(len(allaxes) == 1)

‎control/tests/optimal_test.py

Lines changed: 9 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -745,12 +745,15 @@ def vehicle_output(t, x, u, params):
745745
initial_guess = (state_guess, input_guess)
746746

747747
# Solve the optimal control problem
748-
result = opt.solve_ocp(
749-
vehicle, timepts, x0, traj_cost, constraints,
750-
terminal_cost=term_cost, initial_guess=initial_guess,
751-
trajectory_method=method,
752-
# minimize_method='COBYLA', # SLSQP',
753-
)
748+
with warnings.catch_warnings():
749+
warnings.filterwarnings(
750+
'ignore', message="unable to solve", category=UserWarning)
751+
result = opt.solve_ocp(
752+
vehicle, timepts, x0, traj_cost, constraints,
753+
terminal_cost=term_cost, initial_guess=initial_guess,
754+
trajectory_method=method,
755+
# minimize_method='COBYLA', # SLSQP',
756+
)
754757

755758
if fail == 'xfail':
756759
assert not result.success

‎control/tests/sisotool_test.py

Lines changed: 1 addition & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -79,8 +79,7 @@ def test_sisotool(self, tsys):
7979
'omega_limits': None,
8080
'omega_num': None,
8181
'ax': np.array([[ax_mag], [ax_phase]]),
82-
'margins': True,
83-
'margin_info': True,
82+
'display_margins': 'overlay',
8483
}
8584

8685
# Check that the xaxes of the bode plot are shared before the rlocus click

‎control/timeplot.py

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -292,7 +292,7 @@ def time_response_plot(
292292
if ax is None:
293293
with plt.rc_context(timeplot_rcParams):
294294
ax_array = fig.subplots(nrows, ncols, sharex=True, squeeze=False)
295-
fig.set_tight_layout(True)
295+
fig.set_layout_engine('tight')
296296
fig.align_labels()
297297

298298
else:

‎control/timeresp.py

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1087,7 +1087,7 @@ def forced_response(sys, T=None, U=0., X0=0., transpose=False,
10871087
if U.ndim == 1:
10881088
U = U.reshape(1, -1) # pylint: disable=E1103
10891089

1090-
# Algorithm: to integrate from time 0 to time dt, with linear
1090+
# Algorithm: to integrate from time 0 to time dt, with linear
10911091
# interpolation between inputs u(0) = u0 and u(dt) = u1, we solve
10921092
# xdot = A x + B u, x(0) = x0
10931093
# udot = (u1 - u0) / dt, u(0) = u0.

‎control/xferfcn.py

Lines changed: 7 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -468,7 +468,13 @@ def __str__(self, var=None):
468468
numstr = _tf_polynomial_to_string(self.num[no][ni], var=var)
469469
denstr = _tf_polynomial_to_string(self.den[no][ni], var=var)
470470
elif self.display_format == 'zpk':
471-
z, p, k = tf2zpk(self.num[no][ni], self.den[no][ni])
471+
num = self.num[no][ni]
472+
if num.size == 1 and num.item() == 0:
473+
# Catch a special case that SciPy doesn't handle
474+
z, p, k = tf2zpk([1.], self.den[no][ni])
475+
k = 0
476+
else:
477+
z, p, k = tf2zpk(self.num[no][ni], self.den[no][ni])
472478
numstr = _tf_factorized_polynomial_to_string(
473479
z, gain=k, var=var)
474480
denstr = _tf_factorized_polynomial_to_string(p, var=var)

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