def test_buildSSfromTF_reduced(self):
a = [4, 5]
b = [1, 1, 2, 3]
G, H, C = ccde.buildSSfromTF(a, b)
assert_almost_equal(G, numpy.matrix([[ 0., 1., 0.], [ 0., 0., 1.], [ -3., -2., -1.]]))
assert_almost_equal(H, numpy.matrix([[ 0.], [ 0.], [ 1.]]))
assert_almost_equal(C, numpy.matrix([[ 5., 4., 0.]]))
def test_canon(self):
a = [4, 5]
b = [1, 1, 2, 3]
G, H, C = ccde.buildSSfromTF(a, b)
Gb, Hb, Cb, P = ccde.canon(G, H, C)
assert_almost_equal(G, numpy.matrix([[ 0., 1., 0.], [ 0., 0., 1.], [ -3., -2., -1.]]))
assert_almost_equal(H, numpy.matrix([[ 0.], [ 0.], [ 1.]]))
assert_almost_equal(C, numpy.matrix([[ 5., 4., 0.]]))
def test_acker(self):
a = [1]
b = numpy.convolve([1, 3], [1, 4])
G, H, C = ccde.buildSSfromTF(a, b)
K = ccde.acker(G, H, [-5, -6])
eigenvalues, eigenvectors = numpy.linalg.eig(G - H * K)
assert_almost_equal(K, numpy.matrix([[18, 4]]))
assert_almost_equal(eigenvalues, numpy.array([-5, -6]))
