add kwarg checks + rebase cleanup

murrayrm · murrayrm · commit 34c2c7e3018a · 2022-03-30T08:35:16.000-07:00
diff --git a/control/iosys.py b/control/iosys.py
@@ -1672,14 +1672,14 @@ def input_output_response(
             raise ValueError("ivp_method specified more than once")
         solve_ivp_kwargs['method'] = kwargs.pop('solve_ivp_method')
 
-    # Make sure there were no extraneous keywords
-    if kwargs:
-        raise TypeError("unrecognized keywords: ", str(kwargs))
-
     # Set the default method to 'RK45'
     if solve_ivp_kwargs.get('method', None) is None:
         solve_ivp_kwargs['method'] = 'RK45'
 
+    # Make sure there were no extraneous keywords
+    if kwargs:
+        raise TypeError("unrecognized keyword(s): ", str(kwargs))
+
     # Sanity checking on the input
     if not isinstance(sys, InputOutputSystem):
         raise TypeError("System of type ", type(sys), " not valid")
diff --git a/control/stochsys.py b/control/stochsys.py
@@ -26,7 +26,7 @@
 from .statesp import StateSpace, _ssmatrix
 from .exception import ControlArgument, ControlNotImplemented
 
-__all__ = ['lqe','dlqe', 'create_estimator_iosystem', 'white_noise',
+__all__ = ['lqe', 'dlqe', 'create_estimator_iosystem', 'white_noise',
            'correlation']
 
 
@@ -134,7 +134,7 @@ def lqe(*args, **kwargs):
     # Get the method to use (if specified as a keyword)
     method = kwargs.pop('method', None)
     if kwargs:
-        raise TypeError("unrecognized kwargs: ", str(kwargs))
+        raise TypeError("unrecognized keyword(s): ", str(kwargs))
 
     # Get the system description
     if (len(args) < 3):
@@ -255,7 +255,7 @@ def dlqe(*args, **kwargs):
     # Get the method to use (if specified as a keyword)
     method = kwargs.pop('method', None)
     if kwargs:
-        raise TypeError("unrecognized kwargs: ", str(kwargs))
+        raise TypeError("unrecognized keyword(s): ", str(kwargs))
 
     # Get the system description
     if (len(args) < 3):
diff --git a/control/tests/iosys_test.py b/control/tests/iosys_test.py
@@ -1711,28 +1711,6 @@ def test_interconnect_unused_output():
                             outputs=['y'],
                             ignore_outputs=['v'])
 
-def test_nonuniform_timepts():
-    """Test non-uniform time points for simulations"""
-    sys = ct.LinearIOSystem(ct.rss(2, 1, 1))
-
-    # Start with a uniform set of times
-    unifpts = [0, 1, 2, 3, 4,  5,  6,  7,  8,  9, 10]
-    uniform = [1, 2, 3, 2, 1, -1, -3, -5, -7, -3,  1]
-    t_unif, y_unif = ct.input_output_response(sys, unifpts, uniform)
-
-    # Create a non-uniform set of inputs
-    noufpts = [0, 2, 4,  8, 10]
-    nonunif = [1, 3, 1, -7,  1]
-    t_nouf, y_nouf = ct.input_output_response(sys, noufpts, nonunif)
-
-    # Make sure the outputs agree at common times
-    np.testing.assert_almost_equal(y_unif[noufpts], y_nouf, decimal=6)
-
-    # Resimulate using a new set of evaluation points
-    t_even, y_even = ct.input_output_response(
-        sys, noufpts, nonunif, t_eval=unifpts)
-    np.testing.assert_almost_equal(y_unif, y_even, decimal=6)
-
 def test_input_output_broadcasting():
     # Create a system, time vector, and noisy input
     sys = ct.rss(6, 2, 3)
@@ -1773,3 +1751,25 @@ def test_input_output_broadcasting():
     with pytest.raises(ValueError, match="inconsistent"):
         resp_bad = ct.input_output_response(
             sys, T, (U[0, :], U[:2, :-1]), [X0, P0])
+
+def test_nonuniform_timepts():
+    """Test non-uniform time points for simulations"""
+    sys = ct.LinearIOSystem(ct.rss(2, 1, 1))
+
+    # Start with a uniform set of times
+    unifpts = [0, 1, 2, 3, 4,  5,  6,  7,  8,  9, 10]
+    uniform = [1, 2, 3, 2, 1, -1, -3, -5, -7, -3,  1]
+    t_unif, y_unif = ct.input_output_response(sys, unifpts, uniform)
+
+    # Create a non-uniform set of inputs
+    noufpts = [0, 2, 4,  8, 10]
+    nonunif = [1, 3, 1, -7,  1]
+    t_nouf, y_nouf = ct.input_output_response(sys, noufpts, nonunif)
+
+    # Make sure the outputs agree at common times
+    np.testing.assert_almost_equal(y_unif[noufpts], y_nouf, decimal=6)
+
+    # Resimulate using a new set of evaluation points
+    t_even, y_even = ct.input_output_response(
+        sys, noufpts, nonunif, t_eval=unifpts)
+    np.testing.assert_almost_equal(y_unif, y_even, decimal=6)
diff --git a/control/tests/kwargs_test.py b/control/tests/kwargs_test.py
@@ -81,9 +81,11 @@ def test_unrecognized_kwargs():
     sys = control.ss([[-1, 1], [0, -1]], [[0], [1]], [[1, 0]], 0, dt=None)
 
     table = [
+        [control.dlqe, (sys, [[1]], [[1]]), {}],
         [control.dlqr, (sys, [[1, 0], [0, 1]], [[1]]), {}],
         [control.drss, (2, 1, 1), {}],
         [control.input_output_response, (sys, [0, 1, 2], [1, 1, 1]), {}],
+        [control.lqe, (sys, [[1]], [[1]]), {}],
         [control.lqr, (sys, [[1, 0], [0, 1]], [[1]]), {}],
         [control.linearize, (sys, 0, 0), {}],
         [control.pzmap, (sys,), {}],
@@ -154,13 +156,15 @@ def test_matplotlib_kwargs():
     'bode': test_matplotlib_kwargs,
     'bode_plot': test_matplotlib_kwargs,
     'describing_function_plot': test_matplotlib_kwargs,
+    'dlqe': test_unrecognized_kwargs,
     'dlqr': statefbk_test.TestStatefbk.test_lqr_errors,
     'drss': test_unrecognized_kwargs,
     'gangof4': test_matplotlib_kwargs,
     'gangof4_plot': test_matplotlib_kwargs,
     'input_output_response': test_unrecognized_kwargs,
     'interconnect': interconnect_test.test_interconnect_exceptions,
     'linearize': test_unrecognized_kwargs,
+    'lqe': test_unrecognized_kwargs,
     'lqr': statefbk_test.TestStatefbk.test_lqr_errors,
     'nyquist': test_matplotlib_kwargs,
     'nyquist_plot': test_matplotlib_kwargs,
