def test_matrix_verivication_negative_3(self):
A = np.array([[1], [0]])
B = np.array([[0], [1]])
C = np.transpose(np.array([1]))
D = np.array([1])
obj = StateSpace(A, B, C, D)
self.assertEqual(obj.isValid(), False)
def test_matrix_verivication_positive(self):
A = np.array([[1, 2], [0, 1]])
B = np.array([[0], [1]])
C = np.transpose(np.array([[1], [0]]))
D = np.array([1])
obj = StateSpace(A, B, C, D)
self.assertEqual(obj.isValid(), True)
def test_input_outputs_names_negative(self):
A = np.array([[1, 2], [0, 1]])
B = np.array([[0], [1]])
C = np.transpose(np.array([[1], [0]]))
D = np.array([1])
obj = StateSpace(A,
B,
C,
D,
input_name=['Input_1', 'Input_2'],
output_name=['Output'])
self.assertIsNone(obj.getInputsNames())
self.assertIsNone(obj.getOutputsNames())
def test_input_outputs_names(self):
A = np.array([[1, 2], [0, 1]])
B = np.array([[0], [1]])
C = np.transpose(np.array([[1], [0]]))
D = np.array([1])
obj = StateSpace(A,
B,
C,
D,
input_name=['Input'],
output_name=['Output'])
self.assertEqual(obj.getInputsNames(), ['Input'])
self.assertEqual(obj.getOutputsNames(), ['Output'])
def test_multiply_operator_negative(self):
A1 = np.array([[1, 2], [0, 1]])
B1 = np.array([[0], [1]])
C1 = np.transpose(np.array([[1, 0], [0, 1]]))
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 = obj_1 * obj_2
self.assertEqual(obj.isValid(), False)
def test_serial_connection_negative_1(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], [1, 0]])
C2 = np.transpose(np.array([[1], [0]]))
D2 = np.array([[1], [0]])
obj_1 = StateSpace(A1, B1, C1, D1)
obj_2 = StateSpace(A2, B2, C2, D2)
obj = obj_1.serialConnection(obj_2)
self.assertEqual(obj.isValid(), False)
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_eigenvalues_state_space(self):
A = np.array([[1, 2], [0, 1]])
B = np.array([[0], [1]])
C = np.transpose(np.array([[1], [0]]))
D = np.array([1])
obj = StateSpace(A, B, C ,D)
eig = source.lti_analysis.eigenvalues(obj)
ref = np.array([1, 1])
self.assertEqual(np.all(ref == eig), True)
def test_parallel_connection_1(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, 0, 0], [0, 0, 1, 2],
[0, 0, 0, 1]])
B_ref = np.array([[0], [1], [0], [1]])
C_ref = np.transpose(np.array([[1], [0], [1], [0]]))
D_ref = np.array([2])
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 = obj_1.parallelConnection(obj_2)
self.assertEqual(obj, obj_ref)
def test_multiply_operator(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, 0, 0], [0, 0, 1, 2],
[1, 0, 0, 1]])
B_ref = np.array([[0], [1], [0], [1]])
C_ref = np.transpose(np.array([[1], [0], [1], [0]]))
D_ref = np.array([1])
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 = obj_1 * obj_2
self.assertEqual(obj, obj_ref)
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)