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_ctrb(self):
A = numpy.matrix([[-2, 1], [-2, 0]])
B = numpy.matrix([[1], [3]])
C = numpy.matrix([[1, 0]])
ct = ccde.ctrb(A, B)
assert_almost_equal(ct, numpy.matrix([[1, 1], [3, -2]]))
Gb, Hb, Cb, P = ccde.canon(A, B, C)
assert_almost_equal(Gb, numpy.matrix([[0, 1], [-2, -2]]))
assert_almost_equal(Hb, numpy.matrix([[ 0.], [ 1.]]))
assert_almost_equal(Cb, numpy.matrix([[ 3., 1.]]))
