def test_evaluate():
Ts = 1e-3
M = 4
digitalControl = DigitalControl(Ts, M)
x = np.random.randn(4)
t = 0.1
digitalControl.control_update(t, x)
res = digitalControl.control_contribution(t)
for value in res:
assert value == 1 or value == -1
def test_control_signal():
Ts = 1e-3
epsilon = 1e-9
M = 4
digitalControl = DigitalControl(Ts, M)
x = np.ones(M)
t = Ts
np.testing.assert_allclose(np.ones(M), digitalControl.control_signal())
print("Inital control signal: ",
np.asarray(digitalControl.control_signal()))
digitalControl.control_update(t + epsilon, x)
res = digitalControl.control_contribution(t + epsilon)
print(
"Control signal after first control contribution call: ",
np.asarray(digitalControl.control_signal()),
)
print("control contribution response: ", np.asarray(res))
np.testing.assert_allclose(np.ones(M), digitalControl.control_signal())
np.testing.assert_allclose(np.ones(M), res)
digitalControl.control_update(t + Ts + epsilon, -x)
res = digitalControl.control_contribution(t + Ts + epsilon)
print(
"control signal after second control contribution update: ",
np.asarray(digitalControl.control_signal()),
)
print("control contribution response: ", np.asarray(res))
np.testing.assert_allclose(np.zeros(M), digitalControl.control_signal())
np.testing.assert_allclose(-np.ones(M), res)
digitalControl.control_update(t + 2 * Ts + epsilon, -x)
res = digitalControl.control_contribution(t + 2 * Ts + epsilon)
print(
"control signal after third control contribution update: ",
np.asarray(digitalControl.control_signal()),
)
print("control contribution response: ", np.asarray(res))
np.testing.assert_allclose(np.zeros(M), digitalControl.control_signal())
np.testing.assert_allclose(-np.ones(M), res)