add params to sys_nl in repr_gallery; fix combine/split_tf outputs

Author: murrayrm

control/bdalg.py

@@ -557,7 +557,12 @@ def combine_tf(tf_array, **kwargs):
     ...      [s / (s + 2)]],
     ...     name='G'
     ... )
-    <TransferFunction G: ['u[0]'] -> ['y[0]', 'y[1]']>
+    TransferFunction(
+    [[array([1])],
+     [array([1, 0])]],
+    [[array([1, 1])],
+     [array([1, 2])]],
+    name='G', outputs=2, inputs=1)
 
     Combine NumPy arrays with transfer functions
 
@@ -566,7 +571,14 @@ def combine_tf(tf_array, **kwargs):
     ...      [np.zeros((1, 2)), ct.tf([1], [1, 0])]],
     ...     name='G'
     ... )
-    <TransferFunction G: ['u[0]', 'u[1]', 'u[2]'] -> ['y[0]', 'y[1]', 'y[2]']>
+    TransferFunction(
+    [[array([1.]), array([0.]), array([0.])],
+     [array([0.]), array([1.]), array([0.])],
+     [array([0.]), array([0.]), array([1])]],
+    [[array([1.]), array([1.]), array([1.])],
+     [array([1.]), array([1.]), array([1.])],
+     [array([1.]), array([1.]), array([1, 0])]],
+    name='G', outputs=3, inputs=3)
     """
     # Find common timebase or raise error
     dt_list = []
@@ -653,10 +665,21 @@ def split_tf(transfer_function):
     ...     name='G'
     ... )
     >>> ct.split_tf(G)
-    array([[<TransferFunction G: ['u[0]'] -> ['y[0]']>,
-            <TransferFunction G: ['u[1]'] -> ['y[0]']>],
-           [<TransferFunction G: ['u[0]'] -> ['y[1]']>,
-            <TransferFunction G: ['u[1]'] -> ['y[1]']>]], dtype=object)
+    array([[TransferFunction(
+            array([87.8]),
+            array([1, 1]),
+            name='G', outputs=1, inputs=1), TransferFunction(
+                                            array([-86.4]),
+                                            array([1, 1]),
+                                            name='G', outputs=1, inputs=1)],
+           [TransferFunction(
+            array([108.2]),
+            array([1, 1]),
+            name='G', outputs=1, inputs=1), TransferFunction(
+                                            array([-109.6]),
+                                            array([1, 1]),
+                                            name='G', outputs=1, inputs=1)]],
+          dtype=object)
     """
     tf_split_lst = []
     for i_out in range(transfer_function.noutputs):

examples/repr_gallery.ipynb

@@ -411,9 +411,10 @@
       "Inputs (1): ['u[0]']\n",
       "Outputs (1): ['y[0]']\n",
       "States (2): ['x[0]', 'x[1]']\n",
+      "Parameters: ['a', 'b']\n",
       "\n",
-      "Update: <function nl_update at 0x14ddf1800>\n",
-      "Output: <function nl_output at 0x14ddf18a0>\n",
+      "Update: <function nl_update at 0x1258ed800>\n",
+      "Output: <function nl_output at 0x1258ed8a0>\n",
       "----\n",
       "\n",
       "NonlinearIOSystem: sys_dnl, dt=0.1:\n",
@@ -424,8 +425,8 @@
       "States (2): ['x[0]', 'x[1]']\n",
       "dt = 0.1\n",
       "\n",
-      "Update: <function dnl_update at 0x14ddf1940>\n",
-      "Output: <function dnl_output at 0x14ddf19e0>\n",
+      "Update: <function dnl_update at 0x1258ed940>\n",
+      "Output: <function dnl_output at 0x1258ed9e0>\n",
       "----\n",
       "\n",
       "InterconnectedSystem: sys_ic, dt=0:\n",
@@ -495,8 +496,8 @@
       "Update: <bound method FlatSystem._flat_updfcn of <FlatSystem sys_fs: ['u[0]'] -> ['y[0]']>>\n",
       "Output: <bound method FlatSystem._flat_outfcn of <FlatSystem sys_fs: ['u[0]'] -> ['y[0]']>>\n",
       "\n",
-      "Forward: <function fs_forward at 0x14ddf20c0>\n",
-      "Reverse: <function fs_reverse at 0x14ddf2160>\n",
+      "Forward: <function fs_forward at 0x1258ee0c0>\n",
+      "Reverse: <function fs_reverse at 0x1258ee160>\n",
       "----\n",
       "\n",
       "FlatSystem: sys_fsnl, dt=0:\n",
@@ -506,11 +507,11 @@
       "Outputs (1): ['y[0]']\n",
       "States (2): ['x[0]', 'x[1]']\n",
       "\n",
-      "Update: <function nl_update at 0x14ddf1800>\n",
-      "Output: <function nl_output at 0x14ddf18a0>\n",
+      "Update: <function nl_update at 0x1258ed800>\n",
+      "Output: <function nl_output at 0x1258ed8a0>\n",
       "\n",
-      "Forward: <function fs_forward at 0x14ddf20c0>\n",
-      "Reverse: <function fs_reverse at 0x14ddf2160>\n",
+      "Forward: <function fs_forward at 0x1258ee0c0>\n",
+      "Reverse: <function fs_reverse at 0x1258ee160>\n",
       "----\n",
       "\n",
       "============================================================================\n",

examples/repr_gallery.py

@@ -50,8 +50,10 @@ def nl_update(t, x, u, params):
 def nl_output(t, x, u, params):
     return sys_ss.C @ x + sys_ss.D @ u
 
+nl_params = {'a': 0, 'b': 1}
+
 sys_nl = ct.nlsys(
-    nl_update, nl_output, name='sys_nl',
+    nl_update, nl_output, name='sys_nl', params=nl_params,
     states=sys_ss.nstates, inputs=sys_ss.ninputs, outputs=sys_ss.noutputs)
 
 # Nonlinear system (with linear dynamics), discrete time