def test_minrealStaticGain(self):
"""Regression: minreal on static gain was failing"""
g1 = StateSpace([],[],[],[1])
g2 = g1.minreal()
np.testing.assert_array_equal(g1.A, g2.A)
np.testing.assert_array_equal(g1.B, g2.B)
np.testing.assert_array_equal(g1.C, g2.C)
np.testing.assert_array_equal(g1.D, g2.D)
def testMinreal(self):
"""Test a minreal model reduction"""
#A = [-2, 0.5, 0; 0.5, -0.3, 0; 0, 0, -0.1]
A = [[-2, 0.5, 0], [0.5, -0.3, 0], [0, 0, -0.1]]
#B = [0.3, -1.3; 0.1, 0; 1, 0]
B = [[0.3, -1.3], [0.1, 0.], [1.0, 0.0]]
#C = [0, 0.1, 0; -0.3, -0.2, 0]
C = [[0., 0.1, 0.0], [-0.3, -0.2, 0.0]]
#D = [0 -0.8; -0.3 0]
D = [[0., -0.8], [-0.3, 0.]]
# sys = ss(A, B, C, D)
sys = StateSpace(A, B, C, D)
sysr = sys.minreal()
self.assertEqual(sysr.states, 2)
self.assertEqual(sysr.inputs, sys.inputs)
self.assertEqual(sysr.outputs, sys.outputs)
np.testing.assert_array_almost_equal(
eigvals(sysr.A), [-2.136154, -0.1638459])
