import pytest

import control as ct

from control import (StateSpace, TransferFunction, defaults, evalfr, isctime,

isdtime, reset_defaults, rss, sample_system, set_defaults,

ss, ss2tf, tf, tf2ss, zpk)

from control import StateSpace, TransferFunction, defaults, evalfr, isctime, \

isdtime, reset_defaults, rss, sample_system, set_defaults, ss, ss2tf, tf, \

tf2ss, zpk

from control.statesp import _convert_to_statespace

from control.tests.conftest import slycotonly

from control.xferfcn import _convert_to_transfer_function, _tf_close_coeff

np.testing.assert_allclose(sys2.num, [[[-1., -3., -5.]]])

np.testing.assert_allclose(sys2.den, [[[1., 6., 2., -1.]]])

@slycotonly

def test_reverse_sign_mimo(self):

"""Negate a MIMO system."""

num1 = [[[1., 2.], [0., 3.], [2., -1.]],

np.testing.assert_allclose(sys3.num, [[[20., 4., -8]]])

np.testing.assert_allclose(sys3.den, [[[1., 6., 1., -7., -2., 1.]]])

@slycotonly

def test_add_mimo(self):

"""Add two MIMO systems."""

num1 = [[[1., 2.], [0., 3.], [2., -1.]],

np.testing.assert_allclose(sys4.num, [[[-2., -6., 12., 10., 2.]]])

np.testing.assert_allclose(sys4.den, [[[1., 6., 1., -7., -2., 1.]]])

@slycotonly

def test_subtract_mimo(self):

"""Subtract two MIMO systems."""

num1 = [[[1., 2.], [0., 3.], [2., -1.]],

np.testing.assert_allclose(sys3.num, sys4.num)

np.testing.assert_allclose(sys3.den, sys4.den)

@slycotonly

def test_multiply_mimo(self):

"""Multiply two MIMO systems."""

num1 = [[[1., 2.], [0., 3.], [2., -1.]],

sys = TransferFunction([1., 3., 5], [1., 6., 2., -1], 0.1)

np.testing.assert_array_almost_equal(sys(1j), -0.5 - 0.5j)

@slycotonly

def test_call_mimo(self):

"""Evaluate the frequency response of a MIMO system at one frequency."""

np.testing.assert_array_almost_equal(phase, truephase)

np.testing.assert_array_almost_equal(omega, trueomega)

@slycotonly

def test_freqresp_mimo(self):

"""Evaluate the MIMO magnitude and phase at multiple frequencies."""

num = [[[1., 2.], [0., 3.], [2., -1.]],

_, den2, _ = tf2._common_den(allow_nonproper=True)

np.testing.assert_array_almost_equal(den2, common_den_ref)

@slycotonly

def test_pole_mimo(self):

"""Test for correct MIMO poles."""

sys = TransferFunction(

tf_appended_2 = tf1.append(tf2).append(tf3)

assert _tf_close_coeff(tf_exp_2, tf_appended_2)

@slycotonly

def test_convert_to_transfer_function(self):

"""Test for correct state space to transfer function conversion."""

A = [[1., -2.], [-3., 4.]]

np.testing.assert_array_almost_equal(H.num[1][0], H2.num[1][0])

np.testing.assert_array_almost_equal(H.den[1][0], H2.den[1][0])

@slycotonly

def test_indexing(self):

"""Test TF scalar indexing and slice"""

tm = ss2tf(rss(5, 3, 3))

assert len(polystr[0].split('\n')) == 4

assert polystr[2] == outputfmt.format(var=var)

@slycotonly

def test_printing_mimo(self):

"""Print MIMO, continuous time"""

sys = ss2tf(rss(4, 2, 3))

res = str(G)

assert res.partition('\n\n')[2] == output

@slycotonly

def test_size_mismatch(self):

"""Test size mismacht"""

sys1 = ss2tf(rss(2, 2, 2))