Merge branch 'autodiff' into misc_fixes

JuliaControl · Jul 30, 2018 · 0db1de1 · 0db1de1
2 parents 969db22 + 5bf3f01
commit 0db1de1
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Showing 2 changed files with 6 additions and 4 deletions.
diff --git a/src/simulators.jl b/src/simulators.jl
@@ -38,8 +38,9 @@ plot(t, s.y(sol, t)[:], lab="Open loop step response")
 """
 function Simulator(P::StateSpace, u = (x,t) -> 0)
     @assert iscontinuous(P) "Simulator only supports continuous-time system. See function `lsim` for simulation of discrete-time systems."
+    @assert all(P.D .== 0) "Can not simulate systems with direct term D != 0"
     f = (dx,x,p,t) -> dx .= P.A*x .+ P.B*u(x,t)
-    y(x,t) = P.C*x .+ P.D*u(x,t)
+    y(x,t) = P.C*x #.+ P.D*u(x,t)
     y(sol::ODESolution,t) = P.C*sol(t)
     Simulator(P, f, y)
 end

diff --git a/src/types/SisoTfTypes/SisoRational.jl b/src/types/SisoTfTypes/SisoRational.jl
@@ -77,11 +77,12 @@ numpoly(f::SisoRational) = f.num
 tzero(f::SisoRational) = roots(f.num)
 pole(f::SisoRational) = roots(f.den)
 
-function evalfr(f::SisoRational, s::Number)
-    S = promote_type(typeof(s), Float64)
+function evalfr(f::SisoRational{T}, s::Number) where T
+    S = promote_type(T,typeof(s), Float64)
+    # S = typeof(s)
     den = polyval(f.den, s)
     if den == zero(S)
-        convert(S, Inf)
+        convert(S,Inf)
     else
         polyval(f.num, s)/den
     end