Add unittest for discrete time case

python-control · bnavigator · Aug 26, 2023 · Aug 1, 2023 · Aug 3, 2023 · Aug 3, 2023
commit 0b1530f677ad966f84d56be12aed333603a18118
diff --git a/slycot/tests/test_sb10yd.py b/slycot/tests/test_sb10yd.py
@@ -3,9 +3,11 @@
 import numpy as np
 from scipy import signal
 
+import matplotlib.pyplot as plt
+
 class test_sb10yd(unittest.TestCase):
 
-    def test_sb10yd_exec(self):
+    def test_sb10yd_cont_exec(self):
         """A simple execution test.
         """
 
@@ -32,7 +34,7 @@ def test_sb10yd_exec(self):
         # Because flag = 0, we expect n == n_id
         np.testing.assert_equal(n, n_id)
 
-    def test_sb10yd_allclose(self):
+    def test_sb10yd_cont_allclose(self):
         """Compare given and identified frequency response.
         """
 
@@ -68,5 +70,80 @@ def test_sb10yd_allclose(self):
         # absolute(a-b) or absolute(b-a) <= atol, for rtol=0 element-wise true
         np.testing.assert_allclose(abs(H_id),abs(H),rtol=0,atol=0.1)
 
+    def test_sb10yd_disc_exec(self):
+        """A simple execution test.
+        """
+
+        A = np.array([[0.0, 1.0], [-0.5, -0.1]])
+        B = np.array([[0.0], [1.0]])
+        C = np.array([[1.0, 0.0]])
+        D = np.zeros((1,1))
+
+        sys_tf = signal.ss2tf(A,B,C,D)
+        num, den = sys_tf
+
+        dt = 0.1
+        num, den, dt = signal.cont2discrete((num, den), dt, method="zoh")
+        print(den)
+
+        omega, H = signal.freqz(num.squeeze(), den)
+
+        real_H_resp = np.real(H)
+        imag_H_resp = np.imag(H)
+
+        n = 2
+        dico = 1 # 0 for continuous time
+        flag = 0 # 0 for no constraints on the poles
+        n_id, *_ = synthesis.sb10yd(
+            dico, flag, len(omega), 
+            real_H_resp, imag_H_resp, omega, n, tol=0)
+
+        # Because flag = 0, we expect n == n_id
+        np.testing.assert_equal(n, n_id)
+
+    def test_sb10yd_disc_allclose(self):
+        """Compare given and identified frequency response.
+        """
+
+        A = np.array([[0.0, 1.0], [-0.5, -0.1]])
+        B = np.array([[0.0], [1.0]])
+        C = np.array([[1.0, 0.0]])
+        D = np.zeros((1,1))
+
+        sys_tf = signal.ss2tf(A,B,C,D)
+        num, den = sys_tf
+
+        dt = 0.01
+        num, den, dt = signal.cont2discrete((num, den), dt, method="zoh")
+
+        omega, H = signal.freqz(num.squeeze(), den)
+
+        real_H_resp = np.real(H)
+        imag_H_resp = np.imag(H)
+
+        n = 2
+        dico = 1 # 0 for discrete time
+        flag = 0 # 0 for no constraints on the poles
+        n_id, A_id, B_id, C_id, D_id = synthesis.sb10yd(
+            dico, flag, len(omega), 
+            real_H_resp, imag_H_resp, omega, n, tol=0)
+
+        sys_id = signal.dlti(A_id,B_id,C_id,D_id, dt=dt)
+        sys_tf_id = signal.TransferFunction(sys_id)
+        num_id, den_id = sys_tf_id.num, sys_tf_id.den
+        w_id, H_id = signal.freqz(num_id.squeeze(), den_id, worN=omega)
+
+        #print(np.max(abs(H)-abs(H_id)), np.max(abs(H_id)-abs(H)))
+        #print(np.max(abs(H_id)/abs(H)))
+
+        #plt.loglog(omega, abs(H))
+        #plt.loglog(omega, abs(H_id))
+        #plt.show(block=True) 
+
+        # Compare given and identified frequency response up to some toleration.
+        # absolute(a-b) <= atol + rtol*abolute(b), element-wise true
+        # absolute(a-b) or absolute(b-a) <= atol, for rtol=0 element-wise true
+        np.testing.assert_allclose(abs(H_id),abs(H),rtol=0,atol=1.0)
+
 if __name__ == "__main__":
     unittest.main()