def testObsvSISO(self, matarrayin):
A = matarrayin([[1., 2.], [3., 4.]])
C = matarrayin([[5., 7.]])
Wotrue = np.array([[5., 7.], [26., 38.]])
Wo = obsv(A, C)
np.testing.assert_array_almost_equal(Wo, Wotrue)
# Make sure default type values are correct
assert ismatarrayout(Wo)
def testCtrbMIMO(self, matarrayin):
A = matarrayin([[1., 2.], [3., 4.]])
B = matarrayin([[5., 6.], [7., 8.]])
Wctrue = np.array([[5., 6., 19., 22.], [7., 8., 43., 50.]])
Wc = ctrb(A, B)
np.testing.assert_array_almost_equal(Wc, Wctrue)
# Make sure default type values are correct
assert ismatarrayout(Wc)
def test_matlab_style_constructor(self):
"""Use (deprecated) matrix-style construction string"""
with pytest.deprecated_call():
sys = StateSpace("-1 1; 0 2", "0; 1", "1, 0", "0")
assert sys.A.shape == (2, 2)
assert sys.B.shape == (2, 1)
assert sys.C.shape == (1, 2)
assert sys.D.shape == (1, 1)
for X in [sys.A, sys.B, sys.C, sys.D]:
assert ismatarrayout(X)
def testCtrbSISO(self, matarrayin, matarrayout):
A = matarrayin([[1., 2.], [3., 4.]])
B = matarrayin([[5.], [7.]])
Wctrue = np.array([[5., 19.], [7., 43.]])
with check_deprecated_matrix():
Wc = ctrb(A, B)
assert ismatarrayout(Wc)
np.testing.assert_array_almost_equal(Wc, Wctrue)
def testGramWc(self, matarrayin, matarrayout):
A = matarrayin([[1., -2.], [3., -4.]])
B = matarrayin([[5., 6.], [7., 8.]])
C = matarrayin([[4., 5.], [6., 7.]])
D = matarrayin([[13., 14.], [15., 16.]])
sys = ss(A, B, C, D)
Wctrue = np.array([[18.5, 24.5], [24.5, 32.5]])
with check_deprecated_matrix():
Wc = gram(sys, 'c')
assert ismatarrayout(Wc)
np.testing.assert_array_almost_equal(Wc, Wctrue)
def testPlace(self, matarrayin):
# Matrices shamelessly stolen from scipy example code.
A = matarrayin([[1.380, -0.2077, 6.715, -5.676],
[-0.5814, -4.290, 0, 0.6750],
[1.067, 4.273, -6.654, 5.893],
[0.0480, 4.273, 1.343, -2.104]])
B = matarrayin([[0, 5.679], [1.136, 1.136], [0, 0], [-3.146, 0]])
P = matarrayin([-0.5 + 1j, -0.5 - 1j, -5.0566, -8.6659])
K = place(A, B, P)
assert ismatarrayout(K)
P_placed = np.linalg.eigvals(A - B @ K)
self.checkPlaced(P, P_placed)
# Test that the dimension checks work.
with pytest.raises(ControlDimension):
place(A[1:, :], B, P)
with pytest.raises(ControlDimension):
place(A, B[1:, :], P)
# Check that we get an error if we ask for too many poles in the same
# location. Here, rank(B) = 2, so lets place three at the same spot.
P_repeated = matarrayin([-0.5, -0.5, -0.5, -8.6659])
with pytest.raises(ValueError):
place(A, B, P_repeated)
