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Preserve complex StateSpace matrices #1230

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Preserve complex StateSpace matrices #1230

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3 changes: 2 additions & 1 deletion control/statesp.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2302,7 +2302,8 @@ def _ssmatrix(data, axis=1, square=None, rows=None, cols=None, name=None):
name = "" if name is None else " " + name

# Convert the data into an array (always making a copy)
arr = np.array(data, dtype=float)
dtype = complex if np.iscomplexobj(data) else float
arr = np.array(data, dtype=dtype)
ndim = arr.ndim
shape = arr.shape

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18 changes: 17 additions & 1 deletion control/tests/statesp_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,7 @@
"""

import operator
import warnings

import numpy as np
import pytest
Expand Down Expand Up @@ -136,7 +137,6 @@ def test_constructor(self, sys322ABCD, dt, argfun):
((np.ones((3, 3)), np.ones((3, 2)),
np.ones((2, 3)), np.ones((2, 3))), ValueError,
r"Incompatible dimensions of D matrix; expected \(2, 2\)"),
(([1j], 2, 3, 0), TypeError, "real number, not 'complex'"),
])
def test_constructor_invalid(self, args, exc, errmsg):
"""Test invalid input to StateSpace() constructor"""
Expand All @@ -146,6 +146,22 @@ def test_constructor_invalid(self, args, exc, errmsg):
with pytest.raises(exc, match=errmsg):
ss(*args)

def test_constructor_complex_matrices(self):
"""Test complex-valued matrices in StateSpace() constructor"""
A = np.array([[1 + 1j, 2 - 3j], [3 + 2j, 4 - 1j]])
B = np.array([[1 - 2j], [3 + 4j]])
C = np.array([[5 + 6j, 7 - 8j]])
D = np.array([[9 + 10j]])

with warnings.catch_warnings():
warnings.simplefilter("error")
sys = StateSpace(A, B, C, D)

np.testing.assert_allclose(sys.A, A)
np.testing.assert_allclose(sys.B, B)
np.testing.assert_allclose(sys.C, C)
np.testing.assert_allclose(sys.D, D)

def test_constructor_warns(self, sys322ABCD):
"""Test ambiguos input to StateSpace() constructor"""
with pytest.warns(UserWarning, match="received multiple dt"):
Expand Down