def setUp(self):
"""Set up a MIMO system to test operations on."""
use_numpy_matrix(False)
# sys1: 3-states square system (2 inputs x 2 outputs)
A322 = [[-3., 4., 2.], [-1., -3., 0.], [2., 5., 3.]]
B322 = [[1., 4.], [-3., -3.], [-2., 1.]]
C322 = [[4., 2., -3.], [1., 4., 3.]]
D322 = [[-2., 4.], [0., 1.]]
self.sys322 = StateSpace(A322, B322, C322, D322)
# sys1: 2-states square system (2 inputs x 2 outputs)
A222 = [[4., 1.], [2., -3]]
B222 = [[5., 2.], [-3., -3.]]
C222 = [[2., -4], [0., 1.]]
D222 = [[3., 2.], [1., -1.]]
self.sys222 = StateSpace(A222, B222, C222, D222)
# sys3: 6 states non square system (2 inputs x 3 outputs)
A623 = np.array([[1, 0, 0, 0, 0, 0], [0, 1, 0, 0, 0, 0],
[0, 0, 3, 0, 0, 0], [0, 0, 0, -4, 0, 0],
[0, 0, 0, 0, -1, 0], [0, 0, 0, 0, 0, 3]])
B623 = np.array([[0, -1], [-1, 0], [1, -1], [0, 0], [0, 1], [-1, -1]])
C623 = np.array([[1, 0, 0, 1, 0, 0], [0, 1, 0, 1, 0, 1],
[0, 0, 1, 0, 0, 1]])
D623 = np.zeros((3, 2))
self.sys623 = StateSpace(A623, B623, C623, D623)
def setUp(self):
use_numpy_matrix(False)
# Number of times to run each of the randomized tests.
self.numTests = 100
# Maximum number of states to test + 1
self.maxStates = 10
# Maximum number of inputs and outputs to test + 1
self.maxIO = 5
def setUp(self):
# Use array instead of matrix (and save old value to restore at end)
use_numpy_matrix(False)
# Maximum number of states to test + 1
self.maxStates = 5
# Maximum number of inputs and outputs to test + 1
self.maxTries = 4
# Set to True to print systems to the output.
self.debug = False
# get consistent test results
np.random.seed(0)
def test_obsv_siso_deprecated(self):
A = np.array([[1., 2.], [3., 4.]])
C = np.array([[5., 7.]])
# Check that default type generates a warning
# TODO: remove this check with matrix type is deprecated
with warnings.catch_warnings(record=True) as w:
use_numpy_matrix(True, warn=False) # warnings off
self.assertEqual(len(w), 0)
Wo = obsv(A, C)
self.assertTrue(isinstance(Wo, np.matrix))
use_numpy_matrix(False)
def test_ctrb_siso_deprecated(self):
A = np.array([[1., 2.], [3., 4.]])
B = np.array([[5.], [7.]])
# Check that default using np.matrix generates a warning
# TODO: remove this check with matrix type is deprecated
warnings.resetwarnings()
with warnings.catch_warnings(record=True) as w:
use_numpy_matrix(True)
self.assertTrue(issubclass(w[-1].category, UserWarning))
Wc = ctrb(A, B)
self.assertTrue(isinstance(Wc, np.matrix))
self.assertTrue(issubclass(w[-1].category,
PendingDeprecationWarning))
use_numpy_matrix(False)
def test_gram_wc_deprecated(self):
A = np.array([[1., -2.], [3., -4.]])
B = np.array([[5., 6.], [7., 8.]])
C = np.array([[4., 5.], [6., 7.]])
D = np.array([[13., 14.], [15., 16.]])
sys = ss(A, B, C, D)
# Check that default type generates a warning
# TODO: remove this check with matrix type is deprecated
with warnings.catch_warnings(record=True) as w:
use_numpy_matrix(True)
self.assertTrue(issubclass(w[-1].category, UserWarning))
Wc = gram(sys, 'c')
self.assertTrue(isinstance(Wc, np.ndarray))
use_numpy_matrix(False)
