do not promote system type when creating a vector (#958)

* do not promote system type when creating a vector

* handle identical types

* handle equality between different system types

* rm old advice

Author: baggepinnen

docs/src/man/creating_systems.md

@@ -268,19 +268,6 @@ P = ssrand(2,3,1) # A random 2×3 MIMO system
 sys_array = getindex.(Ref(P), 1:P.ny, (1:P.nu)')
 ```
 
-### Creating arrays with different types of systems
-When calling `hcat/vcat`, Julia automatically tries to promote the types to the smallest common supertype, this means that creating an array with one continuous and one discrete-time system fails
-```@example MIMO
-P_cont = ssrand(2,3,1) 
-P_disc = ssrand(2,3,1, Ts=1)
-@test_throws ErrorException [P_cont, P_disc] # ERROR: Sampling time mismatch
-```
-You can explicitly tell Julia that you want a particular supertype, e.g,
-```@example MIMO
-StateSpace[P_cont, P_disc]
-```
-The type `StateSpace` is abstract, since the type parameters are not specified.
-
 ## Demo systems
 The module `ControlSystemsBase.DemoSystems` contains a number of demo systems demonstrating different kinds of dynamics.
 

lib/ControlSystemsBase/src/ControlSystemsBase.jl

@@ -237,7 +237,7 @@ function __init__()
             print(io, " for automatic discretization (applicable to systems without delays or nonlinearities only).")
         end
         plots_id = Base.PkgId(UUID("91a5bcdd-55d7-5caf-9e0b-520d859cae80"), "Plots")
-        if nameof(exc.f) === :plot && parentmodule(argtypes[1]) == @__MODULE__() && !haskey(Base.loaded_modules, plots_id)
+        if exc.f !== nothing && nameof(exc.f) === :plot && parentmodule(argtypes[1]) == @__MODULE__() && !haskey(Base.loaded_modules, plots_id)
             printstyled(io, "\nPlotting is not available unless Plots.jl is loaded manually. Call `using Plots` before plotting.", color=:green, bold=true)
         elseif (exc.f == /) && argtypes[2] <: DelayLtiSystem
             print(io, "A delayed system can not be inverted. Consider use of the function `feedback`.")

lib/ControlSystemsBase/src/connections.jl

@@ -138,6 +138,16 @@ end
 Base.typed_hcat(::Type{S}, X::Number...) where {S<:LTISystem} = hcat(convert.(S, X)...)
 Base.typed_hcat(::Type{S}, X::Union{AbstractArray{<:Number,1}, AbstractArray{<:Number,2}}...) where {S<:LTISystem} = hcat(convert.(S, X)...)
 
+## Mixed-type array creation
+# When creating an array of systems, an error may be thrown if the default Base.vect is called that tries to promote all systems to a common type. E.g., when using non-proper transfer functions and statespace systems. We thus opt out of the conversion with the method below
+function Base.vect(X::LTISystem...)
+    LTISystem[X...]
+end
+
+function Base.vect(X::T...) where T <: LTISystem
+    T[X...]
+end
+
 """
     add_input(sys::AbstractStateSpace, B2::AbstractArray, D2 = 0)
 

lib/ControlSystemsBase/src/types/StateSpace.jl

@@ -248,7 +248,13 @@ end
 ## Approximate ##
 function isapprox(sys1::ST1, sys2::ST2; kwargs...) where {ST1<:AbstractStateSpace,ST2<:AbstractStateSpace}
     fieldnames(ST1) == fieldnames(ST2) || (return false)
-    return all(isapprox(getfield(sys1, f), getfield(sys2, f); kwargs...) for f in fieldnames(ST1))
+    return all(fieldnames(ST1)) do f
+        if fieldtype(ST1, f) <: Union{Number, AbstractArray{<:Number}, LTISystem}
+            isapprox(getfield(sys1, f), getfield(sys2, f); kwargs...)
+        else
+            getfield(sys1, f) == getfield(sys2, f)
+        end
+    end
 end
 
 ## ADDITION ##

lib/ControlSystemsBase/src/types/TransferFunction.jl

@@ -105,7 +105,7 @@ isrational(::TransferFunction) = true
 #####################################################################
 
 ## EQUALITY ##
-function ==(G1::TransferFunction, G2::TransferFunction)
+function ==(G1::T, G2::T) where T<:TransferFunction
     fields = (:timeevol, :ny, :nu, :matrix)
     for field in fields
         if getproperty(G1, field) != getproperty(G2, field)
@@ -115,6 +115,8 @@ function ==(G1::TransferFunction, G2::TransferFunction)
     return true
 end
 
+==(G1::TransferFunction, G2::TransferFunction) = ==(promote(G1,G2)...)
+
 ## Approximate ##
 function isapprox(G1::TransferFunction, G2::TransferFunction; kwargs...)
     G1, G2 = promote(G1, G2)

lib/ControlSystemsBase/src/types/conversion.jl

@@ -136,8 +136,8 @@ function siso_tf_to_ss(T::Type, f::SisoRational)
     num0, den0 = numvec(f), denvec(f)
     # Normalize the numerator and denominator to allow realization of transfer functions
     # that are proper, but not strictly proper
-    num = num0 / den0[1]
-    den = den0 / den0[1]
+    num = num0 ./ den0[1]
+    den = den0 ./ den0[1]
 
     N = length(den) - 1 # The order of the rational function f
 

lib/ControlSystemsBase/test/test_connections.jl

@@ -148,7 +148,15 @@ P = ss(-1.0, 2.0, 3.0, 4.0)
 @test [2.5 P 3.5] == ss(-1.0, [0.0 2.0 0.0], 3.0, [2.5 4.0 3.5])
 @test [2.5; P; 3.5] == ss(-1.0, 2.0, [0.0; 3.0; 0.0], [2.5; 4.0; 3.5])
 
-
+# Test vector creation
+v = [ssrand(1,1,1), tf(1)]
+@test v isa Vector{LTISystem}
+@test v[1] isa StateSpace{Continuous, Float64}
+@test v[2] isa TransferFunction{Continuous, ControlSystemsBase.SisoRational{Int64}}
+
+# Test vector creation
+v = [tf(1), tf(1)]
+@test v isa Vector{TransferFunction{Continuous, ControlSystemsBase.SisoRational{Int64}}}
 
 # Combination tfRational and sisoZpk
 Czpk_111 = zpk([-2],[-5],1)

lib/ControlSystemsBase/test/test_zpk.jl

@@ -153,7 +153,7 @@ k = 0.3
 @test eltype(fill(zpk(1,0.005)/zpk(2, 0.005),2)) <: TransferFunction
 @test eltype(fill(zpk(1)+1,2)) <: TransferFunction
 
-@test eltype([tf(1,1), zpk(1,1)]) <: TransferFunction
+@test eltype([tf(1,1), zpk(1,1)]) <: LTISystem
 
 zpk(tf([1 2; 3 4])) == zpk([1 2; 3 4])