def testLists(self):
"""Make sure that lists of various lengths work for operations"""
sys1 = ctrl.tf([1, 1], [1, 2])
sys2 = ctrl.tf([1, 3], [1, 4])
sys3 = ctrl.tf([1, 5], [1, 6])
sys4 = ctrl.tf([1, 7], [1, 8])
sys5 = ctrl.tf([1, 9], [1, 0])
# Series
sys1_2 = ctrl.series(sys1, sys2)
np.testing.assert_array_almost_equal(sort(pole(sys1_2)), [-4., -2.])
np.testing.assert_array_almost_equal(sort(zero(sys1_2)), [-3., -1.])
sys1_3 = ctrl.series(sys1, sys2, sys3);
np.testing.assert_array_almost_equal(sort(pole(sys1_3)),
[-6., -4., -2.])
np.testing.assert_array_almost_equal(sort(zero(sys1_3)),
[-5., -3., -1.])
sys1_4 = ctrl.series(sys1, sys2, sys3, sys4);
np.testing.assert_array_almost_equal(sort(pole(sys1_4)),
[-8., -6., -4., -2.])
np.testing.assert_array_almost_equal(sort(zero(sys1_4)),
[-7., -5., -3., -1.])
sys1_5 = ctrl.series(sys1, sys2, sys3, sys4, sys5);
np.testing.assert_array_almost_equal(sort(pole(sys1_5)),
[-8., -6., -4., -2., -0.])
np.testing.assert_array_almost_equal(sort(zero(sys1_5)),
[-9., -7., -5., -3., -1.])
# Parallel
sys1_2 = ctrl.parallel(sys1, sys2)
np.testing.assert_array_almost_equal(sort(pole(sys1_2)), [-4., -2.])
np.testing.assert_array_almost_equal(sort(zero(sys1_2)),
sort(zero(sys1 + sys2)))
sys1_3 = ctrl.parallel(sys1, sys2, sys3);
np.testing.assert_array_almost_equal(sort(pole(sys1_3)),
[-6., -4., -2.])
np.testing.assert_array_almost_equal(sort(zero(sys1_3)),
sort(zero(sys1 + sys2 + sys3)))
sys1_4 = ctrl.parallel(sys1, sys2, sys3, sys4);
np.testing.assert_array_almost_equal(sort(pole(sys1_4)),
[-8., -6., -4., -2.])
np.testing.assert_array_almost_equal(sort(zero(sys1_4)),
sort(zero(sys1 + sys2 +
sys3 + sys4)))
sys1_5 = ctrl.parallel(sys1, sys2, sys3, sys4, sys5);
np.testing.assert_array_almost_equal(sort(pole(sys1_5)),
[-8., -6., -4., -2., -0.])
np.testing.assert_array_almost_equal(sort(zero(sys1_5)),
sort(zero(sys1 + sys2 +
sys3 + sys4 + sys5)))
def testLists(self):
"""Make sure that lists of various lengths work for operations"""
sys1 = ctrl.tf([1, 1], [1, 2])
sys2 = ctrl.tf([1, 3], [1, 4])
sys3 = ctrl.tf([1, 5], [1, 6])
sys4 = ctrl.tf([1, 7], [1, 8])
sys5 = ctrl.tf([1, 9], [1, 0])
# Series
sys1_2 = ctrl.series(sys1, sys2)
np.testing.assert_array_almost_equal(sort(pole(sys1_2)), [-4., -2.])
np.testing.assert_array_almost_equal(sort(zero(sys1_2)), [-3., -1.])
sys1_3 = ctrl.series(sys1, sys2, sys3);
np.testing.assert_array_almost_equal(sort(pole(sys1_3)),
[-6., -4., -2.])
np.testing.assert_array_almost_equal(sort(zero(sys1_3)),
[-5., -3., -1.])
sys1_4 = ctrl.series(sys1, sys2, sys3, sys4);
np.testing.assert_array_almost_equal(sort(pole(sys1_4)),
[-8., -6., -4., -2.])
np.testing.assert_array_almost_equal(sort(zero(sys1_4)),
[-7., -5., -3., -1.])
sys1_5 = ctrl.series(sys1, sys2, sys3, sys4, sys5);
np.testing.assert_array_almost_equal(sort(pole(sys1_5)),
[-8., -6., -4., -2., -0.])
np.testing.assert_array_almost_equal(sort(zero(sys1_5)),
[-9., -7., -5., -3., -1.])
# Parallel
sys1_2 = ctrl.parallel(sys1, sys2)
np.testing.assert_array_almost_equal(sort(pole(sys1_2)), [-4., -2.])
np.testing.assert_array_almost_equal(sort(zero(sys1_2)),
sort(zero(sys1 + sys2)))
sys1_3 = ctrl.parallel(sys1, sys2, sys3);
np.testing.assert_array_almost_equal(sort(pole(sys1_3)),
[-6., -4., -2.])
np.testing.assert_array_almost_equal(sort(zero(sys1_3)),
sort(zero(sys1 + sys2 + sys3)))
sys1_4 = ctrl.parallel(sys1, sys2, sys3, sys4);
np.testing.assert_array_almost_equal(sort(pole(sys1_4)),
[-8., -6., -4., -2.])
np.testing.assert_array_almost_equal(sort(zero(sys1_4)),
sort(zero(sys1 + sys2 +
sys3 + sys4)))
sys1_5 = ctrl.parallel(sys1, sys2, sys3, sys4, sys5);
np.testing.assert_array_almost_equal(sort(pole(sys1_5)),
[-8., -6., -4., -2., -0.])
np.testing.assert_array_almost_equal(sort(zero(sys1_5)),
sort(zero(sys1 + sys2 +
sys3 + sys4 + sys5)))
def lima_zpk(sys):
sys_poles = pole(sys)
sys_zeros = zero(sys)
sys_gain = dcgain(sys) / (np.prod(-sys_zeros) / np.prod(-sys_poles))
sys_gain = np.real(sys_gain)
str_poles = ''
str_zeros = ''
for p in sys_poles:
str_poles = str_poles + '(s + ' + "{:.2f}".format(-p) + ')'
for z in sys_zeros:
str_zeros = str_zeros + '(s + ' + "{:.2f}".format(-z) + ')'
display(Math(r'\frac{' + "{:.2f}".format(sys_gain) + str_zeros + '}{' \
+ str_poles + '}'))
def test_pole(self):
sys = tf(126, [-1, 42])
np.testing.assert_allclose(sys.pole(), 42)
np.testing.assert_allclose(pole(sys), 42)
def test_pole(self):
sys = tf(126, [-1, 42])
np.testing.assert_equal(sys.pole(), 42)
np.testing.assert_equal(pole(sys), 42)
