def test3():
# different size num < den
# G(z) = 2 / (z - 1) = 2 q /(1 - q)
num1 = np.array([2])
den1 = np.array([-1, 1])
sys = tf.zDTTF(num1, den1)
num2 = np.array([0, 2])
den2 = np.array([1, -1])
assert np.all(sys.num == num2)
assert np.all(sys.den == den2)
assert sys.state.size == 1
# inproper
# G(z) = z^2 / (z - 1) = 1 /(q - q^2)
num1 = np.array([0, 0, 1])
den1 = np.array([-1, 1])
with pytest.raises(system.SysException):
sys = tf.zDTTF(num1, den1)
# G(z) = z^2 / (z - 1) = 1 /(q - q^2)
num1 = np.array([0, 0, 1])
den1 = np.array([-1, 1, 0])
with pytest.raises(system.SysException):
sys = tf.zDTTF(num1, den1)
# G(z) = (z + 2)/(z - 1) = (1 + 2 q) / (1 - q)
num1 = np.array([2, 1])
den1 = np.array([-1, 1])
sys = tf.zDTTF(num1, den1)
num2 = np.array([1, 2])
den2 = np.array([1, -1])
assert np.all(sys.num == num2)
assert np.all(sys.den == den2)
assert sys.state.size == 1
# G(z) = (z + 2)/(z - 1) = (z - 1 + 3)/(z-1) = 1 + 3/(z-1)
sysss = sys.as_DTSS()
A = np.array([1])
B = np.array([1])
C = np.array([3])
D = np.array([1])
assert np.all(A == sysss.A)
assert np.all(B == sysss.B)
assert np.all(C == sysss.C)
assert np.all(D == sysss.D)
y1 = sys.update(1)
y2 = sysss.update(1)
assert y1 == y2
#print(y1, y2)
y1 = sys.update(-1)
y2 = sysss.update(-1)
assert y1 == y2
#print(y1, y2)
y1 = sys.update(3)
y2 = sysss.update(3)
assert y1 == y2
#print(y1, y2)
y1 = sys.update(0)
y2 = sysss.update(0)
assert y1 == y2
#print(y1, y2)
# G(z) = z/(z - 1) = 1 / (1 - q)
num1 = np.array([0, 1])
den1 = np.array([-1, 1])
sys = tf.zDTTF(num1, den1)
num2 = np.array([1, 0])
den2 = np.array([1, -1])
assert np.all(sys.num == num2)
assert np.all(sys.den == den2)
# G(z) = z/(z - 1) = (z - 1 + 1)/(z-1) = 1 + 1/(z-1)
sysss = sys.as_DTSS()
A = np.array([1])
B = np.array([1])
C = np.array([1])
D = np.array([1])
assert np.all(A == sysss.A)
assert np.all(B == sysss.B)
assert np.all(C == sysss.C)
assert np.all(D == sysss.D)
y1 = sys.update(1)
y2 = sysss.update(1)
assert y1 == y2
#print(y1, y2)
y1 = sys.update(-1)
y2 = sysss.update(-1)
assert y1 == y2
#print(y1, y2)
y1 = sys.update(3)
y2 = sysss.update(3)
assert y1 == y2
#print(y1, y2)
y1 = sys.update(0)
y2 = sysss.update(0)
assert y1 == y2
#print(y1, y2)
# G(z) = 2/(z - 1)
num1 = np.array([2, 0])
den1 = np.array([-1, 1])
sys = tf.zDTTF(num1, den1)
num2 = np.array([0, 2])
den2 = np.array([1, -1])
assert np.all(sys.num == num2)
assert np.all(sys.den == den2)
sysss = sys.as_DTSS()
A = np.array([1])
B = np.array([1])
C = np.array([2])
D = np.array([0])
assert np.all(A == sysss.A)
assert np.all(B == sysss.B)
assert np.all(C == sysss.C)
assert np.all(D == sysss.D)
#print(sysss.A, sysss.B, sysss.C, sysss.D)
y1 = sys.update(1)
y2 = sysss.update(1)
assert y1 == y2
#print(y1, y2)
y1 = sys.update(-1)
y2 = sysss.update(-1)
assert y1 == y2
#print(y1, y2)
y1 = sys.update(3)
y2 = sysss.update(3)
assert y1 == y2
#print(y1, y2)
y1 = sys.update(0)
y2 = sysss.update(0)
assert y1 == y2
#print(y1, y2)
# G(z) = z^2/(z - 1) = 1 / (1 - q)
num1 = np.array([1, 0, 0])
den1 = np.array([-1, 1])
with pytest.raises(system.SysException):
sys = tf.zDTTF(num1, den1)
# G(z) = (z + 3)/(z^2 + 2 z - 1) = (q + 3 q^2)/(1 + 2 q - q^2)
num1 = np.array([3, 1, 0])
den1 = np.array([-1, 2, 1])
sys = tf.zDTTF(num1, den1)
num2 = np.array([0, 1, 3])
den2 = np.array([1, 2, -1])
assert np.all(sys.num == num2)
assert np.all(sys.den == den2)
sysss = sys.as_DTSS()
A = np.array([[0,1],[1,-2]])
B = np.array([[0],[1]])
C = np.array([[3,1]])
D = np.array([[0]])
assert np.all(A == sysss.A)
assert np.all(B == sysss.B)
assert np.all(C == sysss.C)
assert np.all(D == sysss.D)
#print('A =\n{}\nB =\n{}\nC =\n{}\nD =\n{}'.format(sysss.A, sysss.B, sysss.C, sysss.D))
# yk = -2 yk-1 + yk-2 + uk-1 + 3 uk-2
# u1 = 1 => y1 = 0
# u1 = 1 => y1 = [3 1] [0; 0] = 0
# x2 = [0 1; 1 -2] [0; 0] + [0; 1] 1 = [0; 1]
y1 = sys.update(1)
y2 = sysss.update(np.array([1]))
#print(y1, y2)
assert y1 == 0
assert np.all(sysss.state == np.array([0,1]))
assert y1 == y2
# u2 = -1 => y2 = -2 y1 + u1 = 1
# u2 = -1 => y2 = [3 1] [0; 1] = 1
# x3 = [0 1; 1 -2] [0; 1] + [0; 1] -1
# = [1; -2] + [0; -1] = [1; -3]
y1 = sys.update(-1)
y2 = sysss.update(np.array([-1]))
#print(y1, y2)
assert y1 == 1
assert np.all(sysss.state == np.array([1,-3]))
assert y1 == y2
# u3 = 3 => y3 = -2 y2 + y1 + u2 + 3 u1 = -2 + 0 + -1 + 3 = 0
# u3 = 3 => y3 = [3 1] [1; -3] = 0
# x4 = [0 1; 1 -2] [1; -3] + [0; 1] 3
# = [-3; 7] + [0; 3] = [-3; 10]
y1 = sys.update(3)
y2 = sysss.update(np.array([3]))
#print(y1, y2)
assert y1 == 0
assert np.all(sysss.state == np.array([-3,10]))
assert y1 == y2
# u4 = 0 => y4 = -2 y3 + y2 + u3 + 3 u2 = 0 + 1 + 3 - 3 = 1
# u4 = 0 => y4 = [3 1] [-3; 10] = 1
# x5 = [0 1; 1 -2] [-3; 10] + [0; 1] 0
# = [10; -23]
y1 = sys.update(0)
y2 = sysss.update(np.array([0]))
#print(y1, y2)
assert y1 == 1
assert np.all(sysss.state == np.array([10,-23]))
assert y1 == y2
# G(z) = z^2/(z^2 + 2 z - 1) = 1 + (1 - 2 z)/(z^2 + 2 z - 1)
num1 = np.array([0, 0, 1])
den1 = np.array([-1, 2, 1])
sys = tf.zDTTF(num1, den1)
num2 = np.array([1, 0, 0])
den2 = np.array([1, 2, -1])
assert np.all(sys.num == num2)
assert np.all(sys.den == den2)
sysss = sys.as_DTSS()
A = np.array([[0,1],[1, -2]])
B = np.array([[0],[1]])
C = np.array([[1,-2]])
D = np.array([[1]])
assert np.all(A == sysss.A)
assert np.all(B == sysss.B)
assert np.all(C == sysss.C)
assert np.all(D == sysss.D)
#print('A =\n{}\nB =\n{}\nC =\n{}\nD =\n{}'.format(sysss.A, sysss.B, sysss.C, sysss.D))
# yk = -2 yk-1 + yk-2 + uk
# u1 = 1 => y1 = 1
# u1 = 1 => y1 = [1 -2] [0; 0] + [1] 1 = 1
# x2 = [0 1; 1 -2] [0; 0] + [0; 1] 1 = [0; 1]
y1 = sys.update(1)
y2 = sysss.update(np.array([1]))
#print(y1, y2)
assert y1 == 1
assert np.all(sysss.state == np.array([0,1]))
assert y1 == y2
# u2 = -1 => y2 = -2 y1 + u2 = -2 - 1 = -3
# u2 = -1 => y2 = [1 -2] [0; 1] + [1] -1 = -2 -1 = -3
# x3 = [0 1; 1 -2] [0; 1] + [0; 1] -1
# = [1; -2] + [0; -1] = [1; -3]
y1 = sys.update(-1)
y2 = sysss.update(np.array([-1]))
#print(y1, y2)
assert y1 == -3
assert np.all(sysss.state == np.array([1,-3]))
assert y1 == y2
# u3 = 3 => y3 = -2 y2 + y1 + u3 = 6 + 1 + 3 = 10
# u3 = 3 => y3 = [1 -2] [1; -3] + [1] 3 = 1 + 6 + 3 = 10
# x4 = [0 1; 1 -2] [1; -3] + [0; 1] 3
# = [-3; 7] + [0; 3] = [-3; 10]
y1 = sys.update(3)
y2 = sysss.update([3])
#print(y1, y2)
assert y1 == 10
assert np.all(sysss.state == np.array([-3,10]))
assert y1 == y2
# u4 = 0 => y4 = -2 y3 + y2 + u4 = - 20 - 3 + 0 = -23
# u4 = 0 => y4 = [1 -2] [-3; 10] + [1] 0 = -3 -20 = -23
# x5 = [0 1; 1 -2] [-3; 10] + [0; 1] 0
# = [10; -23]
y1 = sys.update(0)
y2 = sysss.update([0])
#print(y1, y2)
assert y1 == -23
assert np.all(sysss.state == np.array([10,-23]))
assert y1 == y2
# vector input/output
sysss = sys.as_DTSS()
A = np.array([[0,1],[1, -2]])
B = np.array([[0],[1]])
C = np.array([[1,-2]])
D = np.array([[1]])
assert np.all(A == sysss.A)
assert np.all(B == sysss.B)
assert np.all(C == sysss.C)
assert np.all(D == sysss.D)
#print('A =\n{}\nB =\n{}\nC =\n{}\nD =\n{}'.format(sysss.A, sysss.B, sysss.C, sysss.D))
# u1 = 1 => y1 = 1
y2 = sysss.update(np.array([1]))
assert isinstance(y2, np.ndarray) and y2 == 1
# u2 = -1 => y2 = -2 y1 + u2 = -2 - 1 = -3
y2 = sysss.update([-1])
assert isinstance(y2, np.ndarray) and y2 == -3
# u3 = 3 => y3 = -2 y2 + y1 + u3 = 6 + 1 + 3 = 10
y2 = sysss.update(np.array([3]))
assert isinstance(y2, np.ndarray) and y2 == 10
# u4 = 0 => y4 = -2 y3 + y2 + u4 = - 20 - 3 + 0 = -23
y2 = sysss.update([0])
assert isinstance(y2, np.ndarray) and y2 == -23
# SIMO
A = np.array([[0,1],[1, -2]])
B = np.array([[0],[1]])
C = np.array([[1,-2],[0,1]])
D = np.array([[1],[0]])
sys = ss.DTSS(A, B, C, D)
assert np.all(sys.A == A)
assert np.all(sys.B == B)
assert np.all(sys.C == C)
assert np.all(sys.D == D)
assert np.all(sys.state == np.zeros(2))
# u1 = 1 => y1 = 1
y2 = sys.update(np.array([1]))
assert isinstance(y2, np.ndarray) and np.all(y2 == np.array([1,0]))
# u2 = -1 => y2 = -2 y1 + u2 = -2 - 1 = -3
y2 = sys.update([-1])
assert isinstance(y2, np.ndarray) and np.all(y2 == np.array([-3,1]))
# u3 = 3 => y3 = -2 y2 + y1 + u3 = 6 + 1 + 3 = 10
y2 = sys.update(np.array([3]))
assert isinstance(y2, np.ndarray) and np.all(y2 == np.array([10,-3]))
# u4 = 0 => y4 = -2 y3 + y2 + u4 = - 20 - 3 + 0 = -23
y2 = sys.update([0])
assert isinstance(y2, np.ndarray) and np.all(y2 == np.array([-23,10]))
# MIMO
A = np.array([[0,1],[1, -2]])
B = np.array([[1,-1],[1,0]])
C = np.array([[1,-2],[0,1]])
D = np.array([[1,0],[-1,1]])
sys = ss.DTSS(A, B, C, D)
assert np.all(sys.A == A)
assert np.all(sys.B == B)
assert np.all(sys.C == C)
assert np.all(sys.D == D)
assert np.all(sys.state == np.zeros(2))
# u1 = 1 => y1 = 1
y2 = sys.update(np.array([1,1]))
assert np.all(sys.state == np.array([0,1]))
assert isinstance(y2, np.ndarray) and np.all(y2 == np.array([1,0]))
# u2 = -1 => y2 = -2 y1 + u2 = -2 - 1 = -3
y2 = sys.update(np.array([-1,0]))
assert np.all(sys.state == np.array([0,-3]))
assert isinstance(y2, np.ndarray) and np.all(y2 == np.array([-3,2]))
# u3 = 3 => y3 = -2 y2 + y1 + u3 = 6 + 1 + 3 = 10
y2 = sys.update(np.array([3,-1]))
assert np.all(sys.state == np.array([1,9]))
assert isinstance(y2, np.ndarray) and np.all(y2 == np.array([9,-7]))
# u4 = 0 => y4 = -2 y3 + y2 + u4 = - 20 - 3 + 0 = -23
y2 = sys.update(np.array([2,1]))
assert np.all(sys.state == np.array([10,-15]))
assert isinstance(y2, np.ndarray) and np.all(y2 == np.array([-15,8]))
def test1():
signals = {"clock": 1, "encoder1": 2, "test": 3}
labels = ["clock", "encoder1"]
# Transfer-function
num = np.array([1, 1, 3])
den = np.array([1, -1])
sys = tf.DTTF(num, den)
assert np.all(sys.num == num)
den = np.array([1, -1, 0])
assert np.all(sys.den == den)
assert np.all(sys.state == np.zeros(2))
blk = linear.SISO(sys)
assert blk.model is sys
with pytest.raises(block.BlockException):
blk = linear.SISO(modelo=sys)
blk.write([1])
(yk,) = blk.read()
state = np.array([1, 0])
assert np.all(sys.state == state)
assert yk == 1
blk.write([-1])
(yk,) = blk.read()
state = np.array([0, 1])
assert np.all(sys.state == state)
assert yk == 1
blk.write([2])
(yk,) = blk.read()
state = np.array([2, 0])
assert np.all(sys.state == state)
assert yk == 5
blk.write([1])
(yk,) = blk.read()
state = np.array([3, 2])
assert np.all(sys.state == state)
assert yk == 5
blk.reset()
yk = sys.update(0)
assert yk == 0
num = np.array([1, 1])
den = np.array([1, -1])
sys2 = tf.DTTF(num, den)
blk = linear.SISO(sys)
blk.set(model=sys2)
assert blk.model is sys2
# State space
A = np.array([[0, 1], [1, -2]])
B = np.array([[0], [1]])
C = np.array([[1, -2], [0, 1]])
D = np.array([[1], [0]])
sys = ss.DTSS(A, B, C, D)
assert np.all(sys.A == A)
assert np.all(sys.B == B)
assert np.all(sys.C == C)
assert np.all(sys.D == D)
assert np.all(sys.state == np.zeros(2))
blk = linear.MIMO(sys)
assert blk.model is sys
with pytest.raises(block.BlockException):
blk = linear.MIMO(modelo=sys)
blk.write([1])
yk = blk.read()
state = np.array([0, 1])
assert np.all(sys.state == state)
assert np.all(yk == np.array([1, 0]))
blk.write([-1])
yk = blk.read()
state = np.array([1, -3])
assert np.all(sys.state == state)
assert np.all(yk == np.array([-3, 1]))
blk.write([3])
yk = blk.read()
state = np.array([-3, 10])
assert np.all(sys.state == state)
assert np.all(yk == np.array([10, -3]))
blk.write([0])
yk = blk.read()
state = np.array([10, -23])
assert np.all(sys.state == state)
assert np.all(yk == np.array([-23, 10]))
blk.reset()
assert np.all(sys.state == [0, 0])
# SIMO
A = np.array([[0, 1], [1, -2]])
B = np.array([[0], [1]])
C = np.array([[1, -2], [0, 1]])
D = np.array([[1], [0]])
sys = ss.DTSS(A, B, C, D)
assert np.all(sys.A == A)
assert np.all(sys.B == B)
assert np.all(sys.C == C)
assert np.all(sys.D == D)
assert np.all(sys.state == np.zeros(2))
blk = linear.MIMO(sys)
assert blk.model is sys
with pytest.raises(block.BlockException):
blk = linear.MIMO(modelo=sys)
blk.write(1)
yk = blk.read()
state = np.array([0, 1])
# print(sys.state)
assert np.all(sys.state == state)
assert np.all(yk == np.array([1, 0]))
blk.write([-1])
yk = blk.read()
state = np.array([1, -3])
assert np.all(sys.state == state)
assert np.all(yk == np.array([-3, 1]))
blk.write(3)
yk = blk.read()
state = np.array([-3, 10])
assert np.all(sys.state == state)
assert np.all(yk == np.array([10, -3]))
blk.write([0])
yk = blk.read()
state = np.array([10, -23])
assert np.all(sys.state == state)
assert np.all(yk == np.array([-23, 10]))
blk.reset()
assert np.all(sys.state == [0, 0])
# MIMO
A = np.array([[0, 1], [1, -2]])
B = np.array([[1, -1], [1, 0]])
C = np.array([[1, -2], [0, 1]])
D = np.array([[1, 0], [-1, 1]])
sys = ss.DTSS(A, B, C, D)
assert np.all(sys.A == A)
assert np.all(sys.B == B)
assert np.all(sys.C == C)
assert np.all(sys.D == D)
assert np.all(sys.state == np.zeros(2))
blk = linear.MIMO(sys)
assert blk.model is sys
# u1 = 1 => y1 = 1
blk.write([1, 1])
y2 = blk.read()
assert np.all(sys.state == np.array([0, 1]))
assert np.all(y2 == np.array([1, 0]))
# u2 = -1 => y2 = -2 y1 + u2 = -2 - 1 = -3
blk.write([-1, 0])
y2 = blk.read()
assert np.all(sys.state == np.array([0, -3]))
assert np.all(y2 == np.array([-3, 2]))
# u3 = 3 => y3 = -2 y2 + y1 + u3 = 6 + 1 + 3 = 10
blk.write([3, -1])
y2 = blk.read()
assert np.all(sys.state == np.array([1, 9]))
assert np.all(y2 == np.array([9, -7]))
# u4 = 0 => y4 = -2 y3 + y2 + u4 = - 20 - 3 + 0 = -23
blk.write([2, 1])
y2 = blk.read()
assert np.all(sys.state == np.array([10, -15]))
assert np.all(y2 == np.array([-15, 8]))
# Test to work with multiple signals
# reset state
blk.reset()
# u1 = 1 => y1 = 1
blk.write(1, 1)
y2 = blk.read()
assert np.all(sys.state == np.array([0, 1]))
assert np.all(y2 == np.array([1, 0]))
# u2 = -1 => y2 = -2 y1 + u2 = -2 - 1 = -3
blk.write(-1, 0)
y2 = blk.read()
assert np.all(sys.state == np.array([0, -3]))
assert np.all(y2 == np.array([-3, 2]))
# u3 = 3 => y3 = -2 y2 + y1 + u3 = 6 + 1 + 3 = 10
blk.write(3, -1)
y2 = blk.read()
assert np.all(sys.state == np.array([1, 9]))
assert np.all(y2 == np.array([9, -7]))
# u4 = 0 => y4 = -2 y3 + y2 + u4 = - 20 - 3 + 0 = -23
blk.write(2, 1)
y2 = blk.read()
assert np.all(sys.state == np.array([10, -15]))
assert np.all(y2 == np.array([-15, 8]))
# Gain
blk = linear.Gain()
assert blk.gain == 1
blk = linear.Gain(-1)
assert blk.gain == -1
blk = linear.Gain(gain=3)
assert blk.gain == 3
blk = linear.Gain(-1.2)
assert blk.gain == -1.2
with pytest.raises(AssertionError):
blk = linear.Gain("asd")
with pytest.raises(AssertionError):
blk = linear.Gain((1, 2))
blk = linear.Gain(-5.2)
blk.write(np.array([2]))
(yk,) = blk.read()
assert yk == -10.4
blk = linear.Gain(3)
blk.write(2, 4)
yk = blk.read()
assert yk == (6, 12)
blk.write(np.array([2, 4]))
(yk,) = blk.read()
assert np.all(yk == [6, 12])
blk.write(2, np.array([4, 2]))
yk = blk.read()
assert yk[0] == 6 and np.all(yk[1] == np.array([12, 6]))
blk.set(gain=8)
assert blk.gain == 8
# Short-Circuit
blk = linear.ShortCircuit()
with pytest.raises(block.BlockException):
blk = linear.ShortCircuit("asd")
blk.write(2)
(yk,) = blk.read()
assert yk == 2
blk.write(2, 4)
yk = blk.read()
assert yk == (2, 4)
blk.write(np.array([2, 4]))
(yk,) = blk.read()
assert np.all(yk == [2, 4])
blk.write(np.array([2, 4]), -1)
yk = blk.read()
assert np.all(yk[0] == [2, 4]) and yk[1] == -1
# Differentiator
signals = {"clock": 1, "encoder1": 5, "test": 0}
labels = ["clock", "test"]
diff = linear.Differentiator()
diff.write(*[signals[label] for label in labels])
result = diff.read()
assert result == ([0])
signals = {"clock": 2, "encoder1": 5, "test": 3}
diff.write(*[signals[label] for label in labels])
result = diff.read()
assert result == ([3])
signals = {"clock": 4, "encoder1": 6, "test": 0}
diff.write(*[signals[label] for label in labels])
result = diff.read()
assert result == ([-1.5])
signals = {"clock": 1, "encoder1": 5, "test": 0}
labels = ["clock", "test", "encoder1"]
diff = linear.Differentiator()
diff.write(*[signals[label] for label in labels])
result = diff.read()
assert result == ([0, 0])
signals = {"clock": 2, "encoder1": 5, "test": 3}
diff.write(*[signals[label] for label in labels])
result = diff.read()
assert result == ([3, 0])
signals = {"clock": 4, "encoder1": 6, "test": 0}
diff.write(*[signals[label] for label in labels])
result = diff.read()
assert result == ([-1.5, 0.5])
signals = {"clock": 1, "encoder1": 5, "test": np.array([0, 1])}
labels = ["clock", "test", "encoder1"]
diff = linear.Differentiator()
diff.write(*[signals[label] for label in labels])
result = diff.read()
assert result[1] == 0 and np.all(result[0] == np.array([0, 0]))
signals = {"clock": 2, "encoder1": 5, "test": np.array([3, 2])}
diff.write(*[signals[label] for label in labels])
result = diff.read()
assert result[1] == 0 and np.all(result[0] == np.array([3, 1]))
signals = {"clock": 4, "encoder1": 6, "test": np.array([0, -1])}
diff.write(*[signals[label] for label in labels])
result = diff.read()
assert result[1] == 0.5 and np.all(result[0] == np.array([-1.5, -1.5]))
with pytest.raises(block.BlockException):
blk.set(time=8)
with pytest.raises(block.BlockException):
blk.set(last=8)
# Feedback
blk1 = linear.Gain(2)
blk = linear.Feedback(blk1)
assert blk.block is blk1
assert blk.gamma == 1.0
blk = linear.Feedback(block=blk1)
assert blk.block is blk1
assert blk.gamma == 1.0
blk = linear.Feedback(block=blk1, gamma=4)
assert blk.block is blk1
assert blk.gamma == 4
blk.write(2, 3)
(yk,) = blk.read()
assert yk == 2 * (3 * 4 - 2)
gn = linear.Gain(150)
blk.set(block=gn)
assert blk.block is gn
blk.set(gamma=10)
assert blk.gamma == 10
# Feedback with transfer-function
#
# G(z) = -.5/(z - .5)
# TODO: CHECK DIFFERENT SIZES NUM/DEN
blk1 = linear.SISO(tf.zDTTF([-0.5, 0], [-0.5, 1]))
blktf = linear.Feedback(blk1)
assert blktf.block is blk1
# A = .5, B = 1, C = -.5, D = 0
#
# u = C x + D (- y + r)
# x = A x + B (- y + r)
A = np.array([[0.5]])
B = np.array([[-1, 1]])
C = np.array([[-0.5]])
D = np.array([[0, 0]])
blkss = linear.MIMO(ss.DTSS(A, B, C, D))
blktf.write(1, 3)
yk1 = list(blktf.read())
blkss.write([1, 3])
yk2 = blkss.read()
assert np.all(np.array(yk1) == yk2)
blktf.write(-1, 3)
yk1 = list(blktf.read())
blkss.write([-1, 3])
yk2 = blkss.read()
assert np.all(np.array(yk1) == yk2)
blktf.write(-1, 3)
yk1 = list(blktf.read())
blkss.write([-1, 3])
yk2 = blkss.read()
assert np.all(np.array(yk1) == yk2)
# Reset feedback
assert blktf.block.model.state == (6.5,)
blktf.reset()
assert blktf.block.model.state == (0,)
# Sum
blk = linear.Sum()
blk.write(1)
(yk,) = blk.read()
assert yk == 1
blk.write()
(yk,) = blk.read()
assert yk == 0
blk.write(1, 2)
(yk,) = blk.read()
assert yk == 3
blk.write(1, 0.4)
(yk,) = blk.read()
assert yk == 1.4
blk.write([1, 0.4])
(yk,) = blk.read()
assert np.all(yk == [1, 0.4])
