def test_symbolic_vector_system_parameters(self):
t = Variable("t")
x = [Variable("x0"), Variable("x1")]
u = [Variable("u0"), Variable("u1")]
p = [Variable("p0"), Variable("p1")]
system = SymbolicVectorSystem(time=t,
state=x,
input=u,
parameter=p,
dynamics=[p[0] * x[0] + x[1] + p[1], t],
output=[u[1]],
time_period=0.0)
context = system.CreateDefaultContext()
self.assertEqual(context.num_continuous_states(), 2)
self.assertEqual(context.num_discrete_state_groups(), 0)
self.assertEqual(system.get_input_port(0).size(), 2)
self.assertEqual(system.get_output_port(0).size(), 1)
self.assertEqual(context.num_abstract_parameters(), 0)
self.assertEqual(context.num_numeric_parameter_groups(), 1)
self.assertEqual(context.get_numeric_parameter(0).size(), 2)
self.assertTrue(
system.dynamics_for_variable(x[0]).EqualTo(p[0] * x[0] + x[1] +
p[1]))
self.assertTrue(system.dynamics_for_variable(x[1]).EqualTo(t))
def test_region_of_attraction(self):
x = Variable("x")
sys = SymbolicVectorSystem(state=[x], dynamics=[-x+x**3])
context = sys.CreateDefaultContext()
options = RegionOfAttractionOptions()
options.lyapunov_candidate = x*x
options.state_variables = [x]
V = RegionOfAttraction(system=sys, context=context, options=options)
def test_region_of_attraction(self):
x = Variable("x")
sys = SymbolicVectorSystem(state=[x], dynamics=[-x + x**3])
context = sys.CreateDefaultContext()
options = RegionOfAttractionOptions()
options.lyapunov_candidate = x * x
options.state_variables = [x]
V = RegionOfAttraction(system=sys, context=context, options=options)
self.assertEqual(
repr(options), "".join([
"RegionOfAttractionOptions(", "lyapunov_candidate=pow(x, 2), ",
"state_variables=[Variable('x', Continuous)])"
]))
def test_symbolic_vector_system(self):
t = Variable("t")
x = [Variable("x0"), Variable("x1")]
u = [Variable("u0"), Variable("u1")]
system = SymbolicVectorSystem(time=t, state=x, input=u,
dynamics=[x[0] + x[1], t],
output=[u[1]],
time_period=0.0)
context = system.CreateDefaultContext()
self.assertEqual(context.num_continuous_states(), 2)
self.assertEqual(context.num_discrete_state_groups(), 0)
self.assertEqual(system.get_input_port(0).size(), 2)
self.assertEqual(system.get_output_port(0).size(), 1)