fix control.matlab.lsim bug for discrete time system by murrayrm · Pull Request #765 · python-control/python-control
Expand Up
@@ -208,7 +208,6 @@ def testStep(self, siso):
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 Expand Down Expand Up @@ -267,7 +266,6 @@ def testImpulse(self, siso): 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) Expand Down Expand Up @@ -296,7 +294,6 @@ def testInitial(self, siso): 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) Expand Down Expand Up @@ -333,7 +330,6 @@ def testLsim(self, siso): 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.
Expand All @@ -352,6 +348,25 @@ def testLsim_mimo(self, mimo): 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 Expand Down Expand Up @@ -582,7 +597,6 @@ def testSISOssdata(self, siso): 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) Expand Down
@slycotonly def testStep_mimo(self, mimo): """Test step for MIMO system""" sys = mimo.ss1 Expand Down Expand Up @@ -267,7 +266,6 @@ def testImpulse(self, siso): 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) Expand Down Expand Up @@ -296,7 +294,6 @@ def testInitial(self, siso): 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) Expand Down Expand Up @@ -333,7 +330,6 @@ def testLsim(self, siso): 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.
Expand All @@ -352,6 +348,25 @@ def testLsim_mimo(self, mimo): 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 Expand Down Expand Up @@ -582,7 +597,6 @@ def testSISOssdata(self, siso): 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) Expand Down