8000 add logic for pole/zero inaccuracies on different systems · python-control/python-control@223d0c8 · GitHub
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Commit 223d0c8

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murrayrmmurrayrm
committed
add logic for pole/zero inaccuracies on different systems
1 parent 8b44e87 commit 223d0c8

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+25
-11
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1 file changed

+25
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‎control/tests/freqresp_test.py

Lines changed: 25 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -435,24 +435,38 @@ def test_dcgain_consistency():
435435
assert 0 in sys_tf.pole()
436436
assert 0 in sys_tf.zero()
437437

438-
sys_ss = ctrl.tf2ss(ctrl.tf([1, 0], [1, 1])) * \
439-
ctrl.tf2ss(ctrl.tf([1], [1, 0]))
440-
assert 0 in sys_ss.pole()
441-
assert 0 in sys_ss.zero()
442-
443438
# Pole and zero at the origin should give nan + nanj for the response
444439
np.testing.assert_equal(
445440
sys_tf(0, warn_infinite=False), complex(np.nan, np.nan))
446441
np.testing.assert_equal(
447442
sys_tf(0j, warn_infinite=False), complex(np.nan, np.nan))
448443
np.testing.assert_equal(
449444
sys_tf.dcgain(warn_infinite=False), complex(np.nan, np.nan))
450-
np.testing.assert_equal(
451-
sys_ss(0, warn_infinite=False), complex(np.nan, np.nan))
452-
np.testing.assert_equal(
453-
sys_ss(0j, warn_infinite=False), complex(np.nan, np.nan))
454-
np.testing.assert_equal(
455-
sys_ss.dcgain(warn_infinite=False), complex(np.nan, np.nan))
445+
446+
# Set up state space version
447+
sys_ss = ctrl.tf2ss(ctrl.tf([1, 0], [1, 1])) * \
448+
ctrl.tf2ss(ctrl.tf([1], [1, 0]))
449+
450+
# Different systems give different representations => test accordingly
451+
if 0 in sys_ss.pole() and 0 in sys_ss.zero():
452+
# Pole and zero at the origin => should get (nan + nanj)
453+
np.testing.assert_equal(
454+
sys_ss(0, warn_infinite=False), complex(np.nan, np.nan))
455+
np.testing.assert_equal(
456+
sys_ss(0j, warn_infinite=False), complex(np.nan, np.nan))
457+
np.testing.assert_equal(
458+
sys_ss.dcgain(warn_infinite=False), complex(np.nan, np.nan))
459+
elif 0 in sys_ss.pole():
460+
# Pole at the origin, but zero elsewhere => should get (inf + nanj)
461+
np.testing.assert_equal(
462+
sys_ss(0, warn_infinite=False), complex(np.inf, np.nan))
463+
np.testing.assert_equal(
464+
sys_ss(0j, warn_infinite=False), complex(np.inf, np.nan))
465+
np.testing.assert_equal(
466+
sys_ss.dcgain(warn_infinite=False), complex(np.inf, np.nan))
467+
else:
468+
# Near pole/zero cancellation => nothing sensible to check
469+
pass
456470

457471
# Pole with non-zero, complex numerator => inf + infj
458472
s = ctrl.tf('s')

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