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Merge pull request #615 from bnavigator/py39-float-tests · python-control/python-control@a6a5bee

@@ -89,10 +89,10 @@ def test_ss2io(self, tsys):

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# Create an input/output system from the linear system

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linsys = tsys.siso_linsys

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iosys = ct.ss2io(linsys)

92-

np.testing.assert_array_equal(linsys.A, iosys.A)

93-

np.testing.assert_array_equal(linsys.B, iosys.B)

94-

np.testing.assert_array_equal(linsys.C, iosys.C)

95-

np.testing.assert_array_equal(linsys.D, iosys.D)

92+

np.testing.assert_allclose(linsys.A, iosys.A)

93+

np.testing.assert_allclose(linsys.B, iosys.B)

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np.testing.assert_allclose(linsys.C, iosys.C)

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np.testing.assert_allclose(linsys.D, iosys.D)

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# Try adding names to things

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iosys_named = ct.ss2io(linsys, inputs='u', outputs='y',

@@ -104,10 +104,10 @@ def test_ss2io(self, tsys):

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assert iosys_named.find_state('x0') is None

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assert iosys_named.find_state('x1') == 0

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assert iosys_named.find_state('x2') == 1

107-

np.testing.assert_array_equal(linsys.A, iosys_named.A)

108-

np.testing.assert_array_equal(linsys.B, iosys_named.B)

109-

np.testing.assert_array_equal(linsys.C, iosys_named.C)

110-

np.testing.assert_array_equal(linsys.D, iosys_named.D)

107+

np.testing.assert_allclose(linsys.A, iosys_named.A)

108+

np.testing.assert_allclose(linsys.B, iosys_named.B)

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np.testing.assert_allclose(linsys.C, iosys_named.C)

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np.testing.assert_allclose(linsys.D, iosys_named.D)

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def test_iosys_unspecified(self, tsys):

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"""System with unspecified inputs and outputs"""

@@ -1132,14 +1132,14 @@ def test_lineariosys_statespace(self, tsys):

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assert isinstance(iosys_siso, ct.StateSpace)

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# Make sure that state space functions work for LinearIOSystems

1135-

np.testing.assert_array_equal(

1135+

np.testing.assert_allclose(

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iosys_siso.pole(), tsys.siso_linsys.pole())

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omega = np.logspace(.1, 10, 100)

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mag_io, phase_io, omega_io = iosys_siso.frequency_response(omega)

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mag_ss, phase_ss, omega_ss = tsys.siso_linsys.frequency_response(omega)

1140-

np.testing.assert_array_equal(mag_io, mag_ss)

1141-

np.testing.assert_array_equal(phase_io, phase_ss)

1142-

np.testing.assert_array_equal(omega_io, omega_ss)

1140+

np.testing.assert_allclose(mag_io, mag_ss)

1141+

np.testing.assert_allclose(phase_io, phase_ss)

1142+

np.testing.assert_allclose(omega_io, omega_ss)

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# LinearIOSystem methods should override StateSpace methods

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io_mul = iosys_siso * iosys_siso2

@@ -1150,19 +1150,19 @@ def test_lineariosys_statespace(self, tsys):

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# And make sure the systems match

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ss_series = tsys.siso_linsys * tsys.siso_linsys

1153-

np.testing.assert_array_equal(io_mul.A, ss_series.A)

1154-

np.testing.assert_array_equal(io_mul.B, ss_series.B)

1155-

np.testing.assert_array_equal(io_mul.C, ss_series.C)

1156-

np.testing.assert_array_equal(io_mul.D, ss_series.D)

1153+

np.testing.assert_allclose(io_mul.A, ss_series.A)

1154+

np.testing.assert_allclose(io_mul.B, ss_series.B)

1155+

np.testing.assert_allclose(io_mul.C, ss_series.C)

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np.testing.assert_allclose(io_mul.D, ss_series.D)

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# Make sure that series does the same thing

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io_series = ct.series(iosys_siso, iosys_siso2)

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assert isinstance(io_series, ct.InputOutputSystem)

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assert isinstance(io_series, ct.StateSpace)

1162-

np.testing.assert_array_equal(io_series.A, ss_series.A)

1163-

np.testing.assert_array_equal(io_series.B, ss_series.B)

1164-

np.testing.assert_array_equal(io_series.C, ss_series.C)

1165-

np.testing.assert_array_equal(io_series.D, ss_series.D)

1162+

np.testing.assert_allclose(io_series.A, ss_series.A)

1163+

np.testing.assert_allclose(io_series.B, ss_series.B)

1164+

np.testing.assert_allclose(io_series.C, ss_series.C)

1165+

np.testing.assert_allclose(io_series.D, ss_series.D)

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# Test out feedback as well

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io_feedback = ct.feedback(iosys_siso, iosys_siso2)

@@ -1173,10 +1173,10 @@ def test_lineariosys_statespace(self, tsys):

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# And make sure the systems match

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ss_feedback = ct.feedback(tsys.siso_linsys, tsys.siso_linsys)

1176-

np.testing.assert_array_equal(io_feedback.A, ss_feedback.A)

1177-

np.testing.assert_array_equal(io_feedback.B, ss_feedback.B)

1178-

np.testing.assert_array_equal(io_feedback.C, ss_feedback.C)

1179-

np.testing.assert_array_equal(io_feedback.D, ss_feedback.D)

1176+

np.testing.assert_allclose(io_feedback.A, ss_feedback.A)

1177+

np.testing.assert_allclose(io_feedback.B, ss_feedback.B)

1178+

np.testing.assert_allclose(io_feedback.C, ss_feedback.C)

1179+

np.testing.assert_allclose(io_feedback.D, ss_feedback.D)

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# Make sure series interconnections are done in the right order

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ss_sys1 = ct.rss(2, 3, 2)

@@ -1190,10 +1190,10 @@ def test_lineariosys_statespace(self, tsys):

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# While we are at it, check that the state space matrices match

11921192

ss_series = ss_sys2 * ss_sys1

1193-

np.testing.assert_array_equal(io_series.A, ss_series.A)

1194-

np.testing.assert_array_equal(io_series.B, ss_series.B)

1195-

np.testing.assert_array_equal(io_series.C, ss_series.C)

1196-

np.testing.assert_array_equal(io_series.D, ss_series.D)

1193+

np.testing.assert_allclose(io_series.A, ss_series.A)

1194+

np.testing.assert_allclose(io_series.B, ss_series.B)

1195+

np.testing.assert_allclose(io_series.C, ss_series.C)

1196+

np.testing.assert_allclose(io_series.D, ss_series.D)

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def test_docstring_example(self):

11991199

P = ct.LinearIOSystem(