D221 = [[1., -1.]]

return StateSpace(A222, B222, C221, D221)

def test_sisotool(self, sys, sysdt, sys222, sys221):

def test_sisotool(self, sys):

sisotool(sys, Hz=False)

fig = plt.gcf()

ax_mag, ax_rlocus, ax_phase, ax_step = fig.axes[:4]

assert_array_almost_equal(

ax_step.lines[0].get_data()[1][:10], step_response_moved, 4)

def test_sisotool_tvect(self, sys):

# test supply tvect

sisotool(sys, tvect=np.arange(0, 1, .1))

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

sisotool(sys, tvect=tvect)

fig = plt.gcf()

ax_rlocus, ax_step = fig.axes[1], fig.axes[3]

# Move the rootlocus to another point and confirm same tvect

event = type('test', (object,), {'xdata': 2.31206868287,

'ydata': 15.5983051046,

'inaxes': ax_rlocus.axes})()

_RLClickDispatcher(event=event, sys=sys, fig=fig,

ax_rlocus=ax_rlocus, sisotool=True, plotstr='-',

bode_plot_params=dict(), tvect=tvect)

assert_array_almost_equal(tvect, ax_step.lines[0].get_data()[0])

def test_sisotool_tvect_dt(self, sysdt):

# test supply tvect

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

sisotool(sysdt, tvect=tvect)

fig = plt.gcf()

ax_rlocus, ax_step = fig.axes[1], fig.axes[3]

# test discrete-time

sisotool(sysdt, tvect=5)

# Move the rootlocus to another point and confirm same tvect

event = type('test', (object,), {'xdata': 2.31206868287,

'ydata': 15.5983051046,

'inaxes': ax_rlocus.axes})()

_RLClickDispatcher(event=event, sys=sysdt, fig=fig,

ax_rlocus=ax_rlocus, sisotool=True, plotstr='-',

bode_plot_params=dict(), tvect=tvect)

assert_array_almost_equal(tvect, ax_step.lines[0].get_data()[0])

# test MIMO compatibility

# sys must be siso or 2 input, 2 output

def test_sisotool_mimo(self, sys222, sys221):

# a 2x2 should not raise an error:

sisotool(sys222)

# but 2 input, 1 output should

with pytest.raises(ControlMIMONotImplemented):

sisotool(sys221)

# does not raise an error:

sisotool(sys222)