def test_frequency_response_all_integrators():
J = Transfer([0.2, 0, 0.2], [1, -2, 1], 0.001)
rrr, www = frequency_response(J)
assert abs(rrr[(200 < www) & (www < 300)]).min() < 1e-6
J = Transfer([0.2, 0, 0.2], [1, 0, 0])
rrr, www = frequency_response(J)
assert abs(rrr[(0.1 < www) & (www < 0.2)]).min() < 1e-6
def test_frequency_response():
seed(1234)
# SISO, only integrators
G = Transfer([1, 0], [1, 0, 0, 0])
_, _ = frequency_response(G)
G = Transfer([1, -1], [1, -2, 1], dt=0.1)
_, _ = frequency_response(G)
# Static Gains
G = Transfer(5, dt=0.5)
_, _ = frequency_response(G)
G = Transfer(eye(5))
_, _ = frequency_response(G)
# MIMO
a, b, c = -3 * eye(5) + rand(5, 5), rand(5, 3), rand(4, 5)
G = State(a, b, c)
_, _ = frequency_response(G)
G = State(a, b, c, dt=1)
_, _ = frequency_response(G)
def test_frequency_response():
seed(1234)
# SISO, only integrators
G = Transfer([1, 0], [1, 0, 0, 0])
_, _ = frequency_response(G)
G = Transfer([1, -1], [1, -2, 1], dt=0.1)
_, _ = frequency_response(G)
# Static Gains
G = Transfer(5, dt=0.5)
_, _ = frequency_response(G)
G = Transfer(eye(5))
_, _ = frequency_response(G)
# MIMO
a, b, c = -3*eye(5) + rand(5, 5), rand(5, 3), rand(4, 5)
G = State(a, b, c)
_, _ = frequency_response(G)
G = State(a, b, c, dt=1)
_, _ = frequency_response(G)
def test_frequency_response_freq_points_close_pole_zero():
J = Transfer([1, 0, 10], [1, 0, 10.4])
rrr, www = frequency_response(J)
assert www.size < 100
def test_frequency_response_zero_peak_precision():
H = Transfer([0.05634, -0.00093524, -0.00093524, 0.05634],
[1., -0.7631, -0.1919863, 0.5434631],
dt=1)
rrr, www = frequency_response(H)
assert abs(rrr[(0.1 < www) & (www < 0.2)]).min() < 1e-6