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Fix named_ss(sys, linfun, outputs) on ModelingToolkit 11.36 #85

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Merged
baggepinnen merged 1 commit into from
Jul 24, 2026
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Fix named_ss(sys, linfun, outputs) on ModelingToolkit 11.36 #85

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2 changes: 1 addition & 1 deletion Project.toml
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
name = "ControlSystemsMTK"
uuid = "687d7614-c7e5-45fc-bfc3-9ee385575c88"
authors = ["Fredrik Bagge Carlson"]
version = "2.8.0"
version = "2.8.1"

[deps]
ControlSystemsBase = "aaaaaaaa-a6ca-5380-bf3e-84a91bcd477e"
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5 changes: 4 additions & 1 deletion src/ode_system.jl
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Expand Up @@ -153,7 +153,10 @@ function RobustAndOptimalControl.named_ss(
)
ssys = sys
matrices, xpt = ModelingToolkit.linearize(sys, linfun; kwargs...)
inputs = linfun.inputs
# ModelingToolkit 11.36 removed the `inputs` field from LinearizationFunction;
# the input variables are recovered from the simplified system instead, which
# is what the operating-point extraction below already relies on.
inputs = ModelingToolkit.inputs(ssys)
nu = length(inputs)
unames = symstr.(inputs)
if nu > 0 && size(matrices.B, 2) == 2nu
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6 changes: 6 additions & 0 deletions test/test_ODESystem.jl
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Expand Up @@ -54,6 +54,12 @@ P02_named = named_ss(P, [input.u], [output.u]; op)
P02 = ss(P02_named)
@test P02 == P0 # verify that we get back what we started with

# named_ss from a precompiled LinearizationFunction (hot path)
lin_fun, sslin = ModelingToolkit.linearization_function(P, [input.u], [output.u]; op)
P02_linfun = named_ss(sslin, lin_fun, [output.u]; op)
@test P02_linfun.u == [Symbol("input₊u(t)")]
@test ss(P02_linfun) == P0

# same for controller
x = unknowns(C)
@nonamespace C02 = named_ss(C, [C.input], [C.output]; op)
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