diff --git a/control/lti.py b/control/lti.py
index 01d04e020..52f6b2e72 100644
--- a/control/lti.py
+++ b/control/lti.py
@@ -665,7 +665,7 @@ def _process_frequency_response(sys, omega, out, squeeze=None):
if squeeze is None:
squeeze = config.defaults['control.squeeze_frequency_response']
- if not hasattr(omega, '__len__'):
+ if np.asarray(omega).ndim < 1:
# received a scalar x, squeeze down the array along last dim
out = np.squeeze(out, axis=2)
diff --git a/control/tests/lti_test.py b/control/tests/lti_test.py
index 1bf633e84..d4d5ec786 100644
--- a/control/tests/lti_test.py
+++ b/control/tests/lti_test.py
@@ -6,8 +6,8 @@
import control as ct
from control import c2d, tf, tf2ss, NonlinearIOSystem
-from control.lti import (LTI, common_timebase, damp, dcgain, isctime, isdtime,
- issiso, pole, timebaseEqual, zero)
+from control.lti import (LTI, common_timebase, evalfr, damp, dcgain, isctime,
+ isdtime, issiso, pole, timebaseEqual, zero)
from control.tests.conftest import slycotonly
from control.exception import slycot_check
@@ -179,11 +179,20 @@ def test_isdtime(self, objfun, arg, dt, ref, strictref):
[1, 1, 2, [0.1, 1, 10], None, (1, 2, 3)], # MISO
[2, 1, 2, [0.1, 1, 10], True, (2, 3)],
[3, 1, 2, [0.1, 1, 10], False, (1, 2, 3)],
+ [1, 1, 2, 0.1, None, (1, 2)],
+ [1, 1, 2, 0.1, True, (2,)],
+ [1, 1, 2, 0.1, False, (1, 2)],
[1, 2, 2, [0.1, 1, 10], None, (2, 2, 3)], # MIMO
[2, 2, 2, [0.1, 1, 10], True, (2, 2, 3)],
- [3, 2, 2, [0.1, 1, 10], False, (2, 2, 3)]
+ [3, 2, 2, [0.1, 1, 10], False, (2, 2, 3)],
+ [1, 2, 2, 0.1, None, (2, 2)],
+ [2, 2, 2, 0.1, True, (2, 2)],
+ [3, 2, 2, 0.1, False, (2, 2)],
])
- def test_squeeze(self, fcn, nstate, nout, ninp, omega, squeeze, shape):
+ @pytest.mark.parametrize("omega_type", ["numpy", "native"])
+ def test_squeeze(self, fcn, nstate, nout, ninp, omega, squeeze, shape,
+ omega_type):
+ """Test correct behavior of frequencey response squeeze parameter."""
# Create the system to be tested
if fcn == ct.frd:
sys = fcn(ct.rss(nstate, nout, ninp), [1e-2, 1e-1, 1, 1e1, 1e2])
@@ -193,15 +202,23 @@ def test_squeeze(self, fcn, nstate, nout, ninp, omega, squeeze, shape):
else:
sys = fcn(ct.rss(nstate, nout, ninp))
- # Convert the frequency list to an array for easy of use
- isscalar = not hasattr(omega, '__len__')
- omega = np.array(omega)
+ if omega_type == "numpy":
+ omega = np.asarray(omega)
+ isscalar = omega.ndim == 0
+ # keep the ndarray type even for scalars
+ s = np.asarray(omega * 1j)
+ else:
+ isscalar = not hasattr(omega, '__len__')
+ if isscalar:
+ s = omega*1J
+ else:
+ s = [w*1J for w in omega]
# Call the transfer function directly and make sure shape is correct
- assert sys(omega * 1j, squeeze=squeeze).shape == shape
+ assert sys(s, squeeze=squeeze).shape == shape
# Make sure that evalfr also works as expected
- assert ct.evalfr(sys, omega * 1j, squeeze=squeeze).shape == shape
+ assert ct.evalfr(sys, s, squeeze=squeeze).shape == shape
# Check frequency response
mag, phase, _ = sys.frequency_response(omega, squeeze=squeeze)
@@ -216,7 +233,7 @@ def test_squeeze(self, fcn, nstate, nout, ninp, omega, squeeze, shape):
# Make sure the default shape lines up with squeeze=None case
if squeeze is None:
- assert sys(omega * 1j).shape == shape
+ assert sys(s).shape == shape
# Changing config.default to False should return 3D frequency response
ct.config.set_defaults('control', squeeze_frequency_response=False)
@@ -224,14 +241,14 @@ def test_squeeze(self, fcn, nstate, nout, ninp, omega, squeeze, shape):
if isscalar:
assert mag.shape == (sys.noutputs, sys.ninputs, 1)
assert phase.shape == (sys.noutputs, sys.ninputs, 1)
- assert sys(omega * 1j).shape == (sys.noutputs, sys.ninputs)
- assert ct.evalfr(sys, omega * 1j).shape == (sys.noutputs, sys.ninputs)
+ assert sys(s).shape == (sys.noutputs, sys.ninputs)
+ assert ct.evalfr(sys, s).shape == (sys.noutputs, sys.ninputs)
else:
assert mag.shape == (sys.noutputs, sys.ninputs, len(omega))
assert phase.shape == (sys.noutputs, sys.ninputs, len(omega))
- assert sys(omega * 1j).shape == \
+ assert sys(s).shape == \
(sys.noutputs, sys.ninputs, len(omega))
- assert ct.evalfr(sys, omega * 1j).shape == \
+ assert ct.evalfr(sys, s).shape == \
(sys.noutputs, sys.ninputs, len(omega))
@pytest.mark.parametrize("fcn", [ct.ss, ct.tf, ct.frd, ct.ss2io])
@@ -243,13 +260,17 @@ def test_squeeze_exceptions(self, fcn):
with pytest.raises(ValueError, match="unknown squeeze value"):
sys.frequency_response([1], squeeze=1)
- sys([1], squeeze='siso')
- evalfr(sys, [1], squeeze='siso')
+ with pytest.raises(ValueError, match="unknown squeeze value"):
+ sys([1j], squeeze='siso')
+ with pytest.raises(ValueError, match="unknown squeeze value"):
+ evalfr(sys, [1j], squeeze='siso')
with pytest.raises(ValueError, match="must be 1D"):
sys.frequency_response([[0.1, 1], [1, 10]])
- sys([[0.1, 1], [1, 10]])
- evalfr(sys, [[0.1, 1], [1, 10]])
+ with pytest.raises(ValueError, match="must be 1D"):
+ sys([[0.1j, 1j], [1j, 10j]])
+ with pytest.raises(ValueError, match="must be 1D"):
+ evalfr(sys, [[0.1j, 1j], [1j, 10j]])
with pytest.warns(DeprecationWarning, match="LTI `inputs`"):
ninputs = sys.inputs
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