np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)

np.testing.assert_array_almost_equal(tout, t)

@slycotonly

def testStep_mimo(self, mimo):

"""Test step for MIMO system"""

sys = mimo.ss1

np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)

np.testing.assert_array_almost_equal(tout, t)

@slycotonly

def testImpulse_mimo(self, mimo):

"""Test impulse() for MIMO system"""

t = np.linspace(0, 1, 10)

np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)

np.testing.assert_array_almost_equal(tout, t)

@slycotonly

def testInitial_mimo(self, mimo):

"""Test initial() for MIMO system"""

t = np.linspace(0, 1, 10)

yout, _t, _xout = lsim(siso.ss1, u, t, x0)

np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)

@slycotonly

def testLsim_mimo(self, mimo):

"""Test lsim() for MIMO system.

yout, _t, _xout = lsim(mimo.ss1, u, t, x0)

np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)

def test_lsim_mimo_dtime(self):

# https://github.com/python-control/python-control/issues/764

time = np.linspace(0.0, 511.0e-6, 512)

DAC = np.sin(time)

ADC = np.cos(time)

input_Kalman = np.transpose(

np.concatenate(([[DAC]], [[ADC]]), axis=1)[0])

Af = [[0.45768416, -0.42025511], [-0.43354791, 0.51961178]]

Bf = [[2.84368641, 52.05922305], [-1.47286557, -19.94861943]]

Cf = [[1.0, 0.0], [0.0, 1.0]]

Df = [[0.0, 0.0], [0.0, 0.0]]

ss_Kalman = ss(Af, Bf, Cf, Df, 1.0e-6)

y_est, t, x_est = lsim(ss_Kalman, input_Kalman, time)

assert y_est.shape == (time.size, ss_Kalman.ninputs)

assert t.shape == (time.size, )

assert x_est.shape == (time.size, ss_Kalman.nstates)

def testMargin(self, siso):

"""Test margin()"""

#! TODO: check results to make sure they are OK

for i in range(len(ssdata_1)):

np.testing.assert_array_almost_equal(ssdata_1[i], ssdata_2[i])

@slycotonly

def testMIMOssdata(self, mimo):

"""Test ssdata() MIMO"""

m = (mimo.ss1.A, mimo.ss1.B, mimo.ss1.C, mimo.ss1.D)