def test_feedback_negative(self):
A1 = np.array([[1, 2], [0, 1]])
B1 = np.array([[0, 1], [1, 0]])
C1 = np.transpose(np.array([[1], [0]]))
D1 = np.array([1])
A2 = np.array([[1, 2], [0, 1]])
B2 = np.array([[0], [1]])
C2 = np.transpose(np.array([[1], [0]]))
D2 = np.array([1])
obj_1 = StateSpace(A1, B1, C1, D1)
obj_2 = StateSpace(A2, B2, C2, D2)
obj = StateSpace.feedback(obj_1, obj_2)
self.assertEqual(obj.isValid(), False)
def test_feedback(self):
A1 = np.array([[1, 2], [0, 1]])
B1 = np.array([[0], [1]])
C1 = np.transpose(np.array([[1], [0]]))
D1 = np.array([1])
A2 = np.array([[1, 2], [0, 1]])
B2 = np.array([[0], [1]])
C2 = np.transpose(np.array([[1], [0]]))
D2 = np.array([1])
A_ref = np.array([[1, 2, 0, 0], [0, 1, -1, 0], [0, 0, 1, 2],
[1, 0, 0, 1]])
B_ref = np.array([[0], [1], [0], [0]])
C_ref = np.transpose(np.array([[1], [0], [0], [0]]))
D_ref = np.array([0])
obj_1 = StateSpace(A1, B1, C1, D1)
obj_2 = StateSpace(A2, B2, C2, D2)
obj_ref = StateSpace(A_ref, B_ref, C_ref, D_ref)
obj = StateSpace.feedback(obj_1, obj_2)
self.assertEqual(obj, obj_ref)