Merge pull request #482 from bnavigator/skip-impulse-test · python-control/python-control@26206dc

@@ -9,7 +9,12 @@

99# specific unit tests will do that.10101111import unittest12+from distutils.version import StrictVersion13+1214import numpy as np15+import pytest16+import scipy as sp17+1318from control.timeresp import *1419from control.timeresp import _ideal_tfinal_and_dt, _default_time_vector1520from control.statesp import *

@@ -29,11 +34,11 @@ def setUp(self):

2934# Create some transfer functions3035self.siso_tf1 = TransferFunction([1], [1, 2, 1])3136self.siso_tf2 = _convert_to_transfer_function(self.siso_ss1)32-37+3338# tests for pole cancellation34-self.pole_cancellation = TransferFunction([1.067e+05, 5.791e+04], 39+self.pole_cancellation = TransferFunction([1.067e+05, 5.791e+04],3540 [10.67, 1.067e+05, 5.791e+04])36-self.no_pole_cancellation = TransferFunction([1.881e+06], 41+self.no_pole_cancellation = TransferFunction([1.881e+06],3742 [188.1, 1.881e+06])38433944# Create MIMO system, contains ``siso_ss1`` twice

@@ -177,8 +182,8 @@ def test_step_info(self):

177182# https://github.com/python-control/python-control/issues/440178183step_info_no_cancellation = step_info(self.no_pole_cancellation)179184step_info_cancellation = step_info(self.pole_cancellation)180-for key in step_info_no_cancellation: 181-np.testing.assert_allclose(step_info_no_cancellation[key], 185+for key in step_info_no_cancellation:186+np.testing.assert_allclose(step_info_no_cancellation[key],182187step_info_cancellation[key], rtol=1e-4)183188184189def test_impulse_response(self):

@@ -218,6 +223,8 @@ def test_impulse_response(self):

218223np.testing.assert_array_almost_equal(219224yy, np.vstack((youttrue, np.zeros_like(youttrue))), decimal=4)220225226+@pytest.mark.skipif(StrictVersion(sp.__version__) < "1.3.0",227+ reason="requires SciPy 1.3.0 or greater")221228def test_discrete_time_impulse(self):222229# discrete time impulse sampled version should match cont time223230dt = 0.1

@@ -226,7 +233,7 @@ def test_discrete_time_impulse(self):

226233sysdt = sys.sample(dt, 'impulse')227234np.testing.assert_array_almost_equal(impulse_response(sys, t)[1],228235impulse_response(sysdt, t)[1])229-236+230237def test_initial_response(self):231238# Test SISO system232239sys = self.siso_ss1

@@ -363,7 +370,7 @@ def test_step_robustness(self):

363370"Unit test: https://github.com/python-control/python-control/issues/240"364371# Create 2 input, 2 output system365372num = [ [[0], [1]], [[1], [0]] ]366-373+367374den1 = [ [[1], [1,1]], [[1,4], [1]] ]368375sys1 = TransferFunction(num, den1)369376

@@ -381,47 +388,47 @@ def test_auto_generated_time_vector(self):

381388ratio = 9.21034*p # taken from code382389ratio2 = 25*p383390np.testing.assert_array_almost_equal(384-_ideal_tfinal_and_dt(TransferFunction(1, [1, .5]))[0], 391+_ideal_tfinal_and_dt(TransferFunction(1, [1, .5]))[0],385392 (ratio/p))386393np.testing.assert_array_almost_equal(387-_ideal_tfinal_and_dt(TransferFunction(1, [1, .5]).sample(.1))[0], 394+_ideal_tfinal_and_dt(TransferFunction(1, [1, .5]).sample(.1))[0],388395 (ratio2/p))389396# confirm a TF with poles at 0 and p simulates for ratio/p seconds390397np.testing.assert_array_almost_equal(391-_ideal_tfinal_and_dt(TransferFunction(1, [1, .5, 0]))[0], 398+_ideal_tfinal_and_dt(TransferFunction(1, [1, .5, 0]))[0],392399 (ratio2/p))393400394-# confirm a TF with a natural frequency of wn rad/s gets a 401+# confirm a TF with a natural frequency of wn rad/s gets a395402# dt of 1/(ratio*wn)396403wn = 10397404ratio_dt = 1/(0.025133 * ratio * wn)398405np.testing.assert_array_almost_equal(399-_ideal_tfinal_and_dt(TransferFunction(1, [1, 0, wn**2]))[1], 406+_ideal_tfinal_and_dt(TransferFunction(1, [1, 0, wn**2]))[1],4004071/(ratio_dt*ratio*wn))401408wn = 100402409np.testing.assert_array_almost_equal(403-_ideal_tfinal_and_dt(TransferFunction(1, [1, 0, wn**2]))[1], 410+_ideal_tfinal_and_dt(TransferFunction(1, [1, 0, wn**2]))[1],4044111/(ratio_dt*ratio*wn))405412zeta = .1406413np.testing.assert_array_almost_equal(407-_ideal_tfinal_and_dt(TransferFunction(1, [1, 2*zeta*wn, wn**2]))[1], 414+_ideal_tfinal_and_dt(TransferFunction(1, [1, 2*zeta*wn, wn**2]))[1],4084151/(ratio_dt*ratio*wn))409416# but a smapled one keeps its dt410417np.testing.assert_array_almost_equal(411-_ideal_tfinal_and_dt(TransferFunction(1, [1, 2*zeta*wn, wn**2]).sample(.1))[1], 418+_ideal_tfinal_and_dt(TransferFunction(1, [1, 2*zeta*wn, wn**2]).sample(.1))[1],412419.1)413420np.testing.assert_array_almost_equal(414-np.diff(initial_response(TransferFunction(1, [1, 2*zeta*wn, wn**2]).sample(.1))[0][0:2]), 421+np.diff(initial_response(TransferFunction(1, [1, 2*zeta*wn, wn**2]).sample(.1))[0][0:2]),415422.1)416423np.testing.assert_array_almost_equal(417-_ideal_tfinal_and_dt(TransferFunction(1, [1, 2*zeta*wn, wn**2]))[1], 424+_ideal_tfinal_and_dt(TransferFunction(1, [1, 2*zeta*wn, wn**2]))[1],4184251/(ratio_dt*ratio*wn))419-420-426+427+421428# TF with fast oscillations simulates only 5000 time steps even with long tfinal422-self.assertEqual(5000, 429+self.assertEqual(5000,423430len(_default_time_vector(TransferFunction(1, [1, 0, wn**2]),tfinal=100)))424-431+425432sys = TransferFunction(1, [1, .5, 0])426433sysdt = TransferFunction(1, [1, .5, 0], .1)427434# test impose number of time steps

@@ -430,16 +437,16 @@ def test_auto_generated_time_vector(self):

430437self.assertNotEqual(15, len(step_response(sysdt, T_num=15)[0]))431438# test impose final time432439np.testing.assert_array_almost_equal(433-100, 440+100,434441np.ceil(step_response(sys, 100)[0][-1]))435442np.testing.assert_array_almost_equal(436-100, 443+100,437444np.ceil(step_response(sysdt, 100)[0][-1]))438445np.testing.assert_array_almost_equal(439-100, 446+100,440447np.ceil(impulse_response(sys, 100)[0][-1]))441448np.testing.assert_array_almost_equal(442-100, 449+100,443450np.ceil(initial_response(sys, 100)[0][-1]))444451445452

@@ -490,7 +497,7 @@ def test_time_vector(self):

490497np.testing.assert_array_equal(tout, Tin1)491498492499# MIMO forced response493-tout, yout, xout = forced_response(self.mimo_dss1, Tin1, 500+tout, yout, xout = forced_response(self.mimo_dss1, Tin1,494501 (np.sin(Tin1), np.cos(Tin1)),495502mimo_x0)496503self.assertEqual(np.shape(tout), np.shape(yout[0,:]))