def test_size_mismatch(self):
sys1 = ss2tf(rss(2, 2, 2))
# Different number of inputs
sys2 = ss2tf(rss(3, 1, 2))
self.assertRaises(ValueError, TransferFunction.__add__, sys1, sys2)
# Different number of outputs
sys2 = ss2tf(rss(3, 2, 1))
self.assertRaises(ValueError, TransferFunction.__add__, sys1, sys2)
# Inputs and outputs don't match
self.assertRaises(ValueError, TransferFunction.__mul__, sys2, sys1)
# Feedback mismatch (MIMO not implemented)
self.assertRaises(NotImplementedError, TransferFunction.feedback, sys2,
sys1)
def test_size_mismatch(self):
sys1 = ss2tf(rss(2, 2, 2))
# Different number of inputs
sys2 = ss2tf(rss(3, 1, 2))
self.assertRaises(ValueError, TransferFunction.__add__, sys1, sys2)
# Different number of outputs
sys2 = ss2tf(rss(3, 2, 1))
self.assertRaises(ValueError, TransferFunction.__add__, sys1, sys2)
# Inputs and outputs don't match
self.assertRaises(ValueError, TransferFunction.__mul__, sys2, sys1)
# Feedback mismatch (MIMO not implemented)
self.assertRaises(NotImplementedError,
TransferFunction.feedback, sys2, sys1)
def test_ss2tf(self):
A = np.array([[-4, -1], [-1, -4]])
B = np.array([[1], [3]])
C = np.array([[3, 1]])
D = 0
sys = ss2tf(A, B, C, D)
true_sys = TransferFunction([6., 14.], [1., 8., 15.])
np.testing.assert_almost_equal(sys.num, true_sys.num)
np.testing.assert_almost_equal(sys.den, true_sys.den)
def test_ss2tf(self):
A = np.array([[-4, -1], [-1, -4]])
B = np.array([[1], [3]])
C = np.array([[3, 1]])
D = 0
sys = ss2tf(A, B, C, D)
true_sys = TransferFunction([6., 14.], [1., 8., 15.])
np.testing.assert_almost_equal(sys.num, true_sys.num)
np.testing.assert_almost_equal(sys.den, true_sys.den)
def test_printing(self):
"""Print SISO"""
sys = ss2tf(rss(4, 1, 1))
assert isinstance(str(sys), str)
assert isinstance(sys._repr_latex_(), str)
# SISO, discrete time
sys = sample_system(sys, 1)
assert isinstance(str(sys), str)
assert isinstance(sys._repr_latex_(), str)
def test_printing(self):
# SISO, continuous time
sys = ss2tf(rss(4, 1, 1))
self.assertTrue(isinstance(str(sys), str))
self.assertTrue(isinstance(sys._repr_latex_(), str))
# SISO, discrete time
sys = sample_system(sys, 1)
self.assertTrue(isinstance(str(sys), str))
self.assertTrue(isinstance(sys._repr_latex_(), str))
def test_printing(self):
# SISO, continuous time
sys = ss2tf(rss(4, 1, 1))
self.assertTrue(isinstance(str(sys), str))
self.assertTrue(isinstance(sys._repr_latex_(), str))
# SISO, discrete time
sys = sample_system(sys, 1)
self.assertTrue(isinstance(str(sys), str))
self.assertTrue(isinstance(sys._repr_latex_(), str))
def test_size_mismatch(self):
"""Test size mismacht"""
sys1 = ss2tf(rss(2, 2, 2))
# Different number of inputs
sys2 = ss2tf(rss(3, 1, 2))
with pytest.raises(ValueError):
TransferFunction.__add__(sys1, sys2)
# Different number of outputs
sys2 = ss2tf(rss(3, 2, 1))
with pytest.raises(ValueError):
TransferFunction.__add__(sys1, sys2)
# Inputs and outputs don't match
with pytest.raises(ValueError):
TransferFunction.__mul__(sys2, sys1)
# Feedback mismatch (MIMO not implemented)
with pytest.raises(NotImplementedError):
TransferFunction.feedback(sys2, sys1)
def test_zero_siso(self):
"""Evaluate the zeros of a SISO system."""
# extract only first input / first output system of sys222. This system is denoted sys111
# or tf111
tf111 = ss2tf(self.sys222)
sys111 = tf2ss(tf111[0, 0])
# compute zeros as root of the characteristic polynomial at the numerator of tf111
# this method is simple and assumed as valid in this test
true_z = np.sort(tf111[0, 0].zero())
# Compute the zeros through ab08nd, which is tested here
z = np.sort(sys111.zero())
np.testing.assert_almost_equal(true_z, z)
def test_zero_siso(self):
"""Evaluate the zeros of a SISO system."""
# extract only first input / first output system of sys222. This system is denoted sys111
# or tf111
tf111 = ss2tf(self.sys222)
sys111 = tf2ss(tf111[0, 0])
# compute zeros as root of the characteristic polynomial at the numerator of tf111
# this method is simple and assumed as valid in this test
true_z = np.sort(tf111[0, 0].zero())
# Compute the zeros through ab08nd, which is tested here
z = np.sort(sys111.zero())
np.testing.assert_almost_equal(true_z, z)
def test_indexing(self):
tm = ss2tf(rss(5, 3, 3))
# scalar indexing
sys01 = tm[0, 1]
np.testing.assert_array_almost_equal(sys01.num[0][0], tm.num[0][1])
np.testing.assert_array_almost_equal(sys01.den[0][0], tm.den[0][1])
# slice indexing
sys = tm[:2, 1:3]
np.testing.assert_array_almost_equal(sys.num[0][0], tm.num[0][1])
np.testing.assert_array_almost_equal(sys.den[0][0], tm.den[0][1])
np.testing.assert_array_almost_equal(sys.num[0][1], tm.num[0][2])
np.testing.assert_array_almost_equal(sys.den[0][1], tm.den[0][2])
np.testing.assert_array_almost_equal(sys.num[1][0], tm.num[1][1])
np.testing.assert_array_almost_equal(sys.den[1][0], tm.den[1][1])
np.testing.assert_array_almost_equal(sys.num[1][1], tm.num[1][2])
np.testing.assert_array_almost_equal(sys.den[1][1], tm.den[1][2])
def test_indexing(self):
tm = ss2tf(rss(5, 3, 3))
# scalar indexing
sys01 = tm[0, 1]
np.testing.assert_array_almost_equal(sys01.num[0][0], tm.num[0][1])
np.testing.assert_array_almost_equal(sys01.den[0][0], tm.den[0][1])
# slice indexing
sys = tm[:2, 1:3]
np.testing.assert_array_almost_equal(sys.num[0][0], tm.num[0][1])
np.testing.assert_array_almost_equal(sys.den[0][0], tm.den[0][1])
np.testing.assert_array_almost_equal(sys.num[0][1], tm.num[0][2])
np.testing.assert_array_almost_equal(sys.den[0][1], tm.den[0][2])
np.testing.assert_array_almost_equal(sys.num[1][0], tm.num[1][1])
np.testing.assert_array_almost_equal(sys.den[1][0], tm.den[1][1])
np.testing.assert_array_almost_equal(sys.num[1][1], tm.num[1][2])
np.testing.assert_array_almost_equal(sys.den[1][1], tm.den[1][2])
def test_sample_system_prewarping(self):
"""test that prewarping works when converting from cont to discrete time system"""
A = np.array([
[ 0.00000000e+00, 1.00000000e+00, 0.00000000e+00, 0.00000000e+00],
[-3.81097561e+01, -1.12500000e+00, 0.00000000e+00, 0.00000000e+00],
[ 0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 1.00000000e+00],
[ 0.00000000e+00, 0.00000000e+00, -1.66356135e+04, -1.34748470e+01]])
B = np.array([
[ 0. ], [ 38.1097561 ],[ 0. ],[16635.61352143]])
C = np.array([[0.90909091, 0. , 0.09090909, 0. ],])
wwarp = 50
Ts = 0.025
plant = StateSpace(A,B,C,0)
plant = ss2tf(plant)
plant_d_warped = plant.sample(Ts, 'bilinear', prewarp_frequency=wwarp)
np.testing.assert_array_almost_equal(
evalfr(plant, wwarp*1j),
evalfr(plant_d_warped, np.exp(wwarp*1j*Ts)),
decimal=4)
def test_printing_mimo(self):
"""Print MIMO, continuous time"""
sys = ss2tf(rss(4, 2, 3))
assert isinstance(str(sys), str)
assert isinstance(sys._repr_latex_(), str)
def test_printing_mimo(self):
# MIMO, continuous time
sys = ss2tf(rss(4, 2, 3))
self.assertTrue(isinstance(str(sys), str))
self.assertTrue(isinstance(sys._repr_latex_(), str))
def test_printing_mimo(self):
# MIMO, continuous time
sys = ss2tf(rss(4, 2, 3))
self.assertTrue(isinstance(str(sys), str))
self.assertTrue(isinstance(sys._repr_latex_(), str))