Fix scalar feedback for square MIMO state-space systems#1232
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coverage: 94.746% (+0.01%) from 94.736% — marko1olo:fix-mimo-default-feedback into python-control:main |
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Local verification on this branch: The only local warning was pytest being unable to write |
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Summary
Fix
feedback(sys)/feedback(sys, scalar)for square MIMOStateSpacesystems by treating scalar feedback asscalar * Iwith the system input/output size.Before this change, the default
sys2=1was converted to a 1x1 static state-space system, so square MIMO systems failed the feedback dimension check even though explicit identity feedback worked.Rectangular MIMO systems keep the existing incompatible-dimensions error.
Checks
ct.feedback(ct.ss([], [], [], [[1, 0], [0, 2]]))failed withValueError: State space systems don't have compatible inputs/outputs for feedback.ct.feedback(ct.rss(2, 2, 2))failed with the same dimension error.np.eye(n)feedback for static and dynamic systems.python -m pytest control/tests/bdalg_test.py::TestFeedback::test_mimo_ss_scalar_feedback -qpassed: 1 passed.python -m pytest control/tests/bdalg_test.py control/tests/statesp_test.py control/tests/type_conversion_test.py -qpassed: 1226 passed, 112 skipped, 1 xfailed, 1 warning.python -m ruff check control/statesp.py control/tests/bdalg_test.pypassed.python -m compileall -q control/statesp.py control/tests/bdalg_test.pypassed.git diff --check HEAD~1..HEADpassed.