def test_output_miso():
"""Test output equation with multiple inputs, single output."""
a = np.zeros((2, 2))
b = np.zeros((2, 2))
c = np.array([[1.0, 1.0]])
d = np.array([[2.0, 3.0]])
s = StateSpace(a, b, c, d)
assert np.all(s.output([1.0, 1.0], [1.0, 1.0]) == np.array([7.0]))
def test_output_mimo():
"""Test output equation with multiple inputs, multiple outputs."""
a = np.zeros((2, 2))
b = np.zeros((2, 2))
c = np.eye(2)
d = np.eye(2)
s = StateSpace(a, b, c, d)
assert np.all(s.output([1.0, 1.0], [2.0, 3.0]) == np.array([3.0, 4.0]))
def test_output_siso():
"""Test output equation with single input, single output."""
a = np.zeros((2, 2))
b = np.zeros((2, 1))
c = np.array([[1.0, 1.0]])
d = np.array([[2.0]])
s = StateSpace(a, b, c, d)
assert s.output([1.0, 1.0], [1.0]) == np.array([4.0])