def test_phase_crossover_frequencies():
"""Test phase_crossover_frequencies() function"""
omega, gain = phase_crossover_frequencies(tsys[1][0])
assert_allclose(omega, [1.73205, 0.], atol=1.5e-3)
assert_allclose(gain, [-0.5, 0.25], atol=1.5e-3)
tf = TransferFunction([1], [1, 1])
omega, gain = phase_crossover_frequencies(tf)
assert_allclose(omega, [0.], atol=1.5e-3)
assert_allclose(gain, [1.], atol=1.5e-3)
# testing MIMO, only (0,0) element is considered
tf = TransferFunction([[[1], [2]], [[3], [4]]],
[[[1, 2, 3, 4], [1, 1]], [[1, 1], [1, 1]]])
omega, gain = phase_crossover_frequencies(tf)
assert_allclose(omega, [1.73205, 0.], atol=1.5e-3)
assert_allclose(gain, [-0.5, 0.25], atol=1.5e-3)
def test_phase_crossover_frequencies_mimo():
"""Test MIMO exception"""
tf = TransferFunction([[[1], [2]],
[[3], [4]]],
[[[1, 2, 3, 4], [1, 1]],
[[1, 1], [1, 1]]])
with pytest.raises(ControlMIMONotImplemented):
omega, gain = phase_crossover_frequencies(tf)
def test_phase_crossover_frequencies(tfargs, omega_ref, gain_ref):
"""Test phase_crossover_frequencies() function"""
sys = TransferFunction(*tfargs)
omega, gain = phase_crossover_frequencies(sys)
assert_allclose(omega, omega_ref, atol=1.5e-3)
assert_allclose(gain, gain_ref, atol=1.5e-3)