def testMIMO(self):
sys = StateSpace([[-0.5, 0.0], [0.0, -1.0]], [[1.0, 0.0], [0.0, 1.0]],
[[1.0, 0.0], [0.0, 1.0]], [[0.0, 0.0], [0.0, 0.0]])
omega = np.logspace(-1, 2, 10)
f1 = FRD(sys, omega)
np.testing.assert_array_almost_equal(
sys.frequency_response([0.1, 1.0, 10])[0],
f1.frequency_response([0.1, 1.0, 10])[0])
np.testing.assert_array_almost_equal(
sys.frequency_response([0.1, 1.0, 10])[1],
f1.frequency_response([0.1, 1.0, 10])[1])
def test_freq_resp(self):
"""Evaluate the frequency response at multiple frequencies."""
A = [[-2, 0.5], [0.5, -0.3]]
B = [[0.3, -1.3], [0.1, 0.]]
C = [[0., 0.1], [-0.3, -0.2]]
D = [[0., -0.8], [-0.3, 0.]]
sys = StateSpace(A, B, C, D)
true_mag = [[[0.0852992637230322, 0.00103596611395218],
[0.935374692849736, 0.799380720864549]],
[[0.55656854563842, 0.301542699860857],
[0.609178071542849, 0.0382108097985257]]]
true_phase = [[[-0.566195599644593, -1.68063565332582],
[3.0465958317514, 3.14141384339534]],
[[2.90457947657161, 3.10601268291914],
[-0.438157380501337, -1.40720969147217]]]
true_omega = [0.1, 10.]
mag, phase, omega = sys.frequency_response(true_omega)
np.testing.assert_almost_equal(mag, true_mag)
np.testing.assert_almost_equal(phase, true_phase)
np.testing.assert_almost_equal(omega, true_omega)
# Deprecated version of the call (should return warning)
with pytest.warns(DeprecationWarning, match="will be removed"):
mag, phase, omega = sys.freqresp(true_omega)
np.testing.assert_almost_equal(mag, true_mag)
