def test_bad_filt():
sys = PadeDelay(0.1, order=4).X
with pytest.raises(ValueError):
sys.filt(np.ones((4, 4)))
with pytest.raises(ValueError):
sys.filt(np.ones((4, 1)), filtfilt=True)
with pytest.raises(ValueError):
sys.filt(np.ones((4,)), copy=False)
def test_non_siso_filtering(rng):
sys = PadeDelay(0.1, order=4)
length = 1000
SIMO = sys.X
assert not SIMO.is_SISO
assert SIMO.size_in == 1
assert SIMO.size_out == len(sys)
x = SIMO.impulse(length)
for i, (sub1, sub2) in enumerate(zip(sys, SIMO)):
assert sub1 == sub2
y1 = sub1.impulse(length)
y2 = sub2.impulse(length)
_transclose(shift(y1), shift(y2), x[:, i])
B = np.asarray([[1, 2, 3], [0, 0, 0], [0, 0, 0], [0, 0, 0]]) * sys.B
u = rng.randn(length, 3)
Bu = u.dot([1, 2, 3])
assert Bu.shape == (length,)
MISO = LinearSystem((sys.A, B, sys.C, np.zeros((1, 3))), analog=True)
assert not MISO.is_SISO
assert MISO.size_in == 3
assert MISO.size_out == 1
y = cont2discrete(MISO, dt=0.001).filt(u)
assert y.shape == (length,)
assert np.allclose(shift(sys.filt(Bu)), y)
MIMO = MISO.X
assert not MIMO.is_SISO
assert MIMO.size_in == 3
assert MIMO.size_out == 4
y = MIMO.filt(u)
I = np.eye(len(sys))
for i, sub1 in enumerate(MIMO):
sub2 = LinearSystem((sys.A, B, I[i:i+1], np.zeros((1, 3))))
_transclose(sub1.filt(u), sub2.filt(u), y[:, i])