8000 Move linform SISO reference cases into fixtures · python-control/python-control@b24bd12 · GitHub
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Move linform SISO reference cases into fixtures
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‎control/tests/statesp_test.py

Lines changed: 48 additions & 34 deletions
Original file line numberDiff line numberDiff line change
@@ -1102,48 +1102,62 @@ def test_latex_repr_testsize(editsdefaults):
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assert gstatic._repr_latex_() is None
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11041104

1105+
# these are relatively simple examples
1106+
# the underdamped gpeak and fpeak are found from
1107+
# gpeak = 1/(2*zeta*(1-zeta**2)**0.5
1108+
# fpeak = wn*(1-2*zeta**2)**0.5
1109+
@pytest.fixture(params=[
1110+
('lpf', ct.tf, ([1],[1,1]), 1, 0),
1111+
('static', ct.tf, ([1.23],[1]), 1.23, 0),
1112+
('underdamped', ct.tf, ([100],[1, 2*0.1*10, 100]), 5.02518907629606, 9.89949493661),
1113+
('hpf', ct.tf, ([1, 0], [1, 1]), 1, np.inf),
1114+
('integrator', ct.tf, ([1],[1,0]), np.inf, 0),
1115+
('undamped', ct.tf, ([1],[1, 0, 144]), np.inf, 12),
1116+
('zero', ct.ss, ([-1],[1],[0],[0]), 0, 0),
1117+
])
1118+
def continuous_time_siso(request):
1119+
name, systype, sysargs, refgpeak, reffpeak = request.param
1120+
return systype(*sysargs), refgpeak, reffpeak
1121+
1122+
# these are the continuous-time examples with some tweaks
1123+
@pytest.fixture(params=[
1124+
('lpf', ct.tf, ([1],[1,1]), 0.1, 1, 0),
1125+
('static', ct.tf, ([1.23],[1]), 0.1, 1.23, 0),
1126+
# the gain and frequency don't quite match the continuous-time case,
1127+
# I assume due to c2d imperfection
1128+
('underdamped', ct.tf, ([100],[1, 2*0.1*10, 100]), 0.01, 5.023137, 9.899412),
1129+
# The HPF fpeak is the Nyquist frequency
1130+
# Assume gpeak mismatch is again c2d mismatch
1131+
('hpf', ct.tf, ([1, 0], [1, 1]), 0.1, 1.04995845, np.pi * 10),
1132+
('integrator', ct.tf, ([1],[1,0]), 0.1, np.inf, 0),
1133+
('undamped', ct.tf, ([1],[1, 0, 144]), 0.003, np.inf, 12),
1134+
# ss call works around Scipy's "Badly conditioned filter coefficients" warning
1135+
('zero', ct.ss, ([-1],[1],[0],[0]), 0.003, 0, 0),
1136+
])
1137+
def discrete_time_siso(request):
1138+
name, systype, sysargs, dt, refgpeak, reffpeak = request.param
1139+
return ct.c2d(systype(*sysargs), dt), refgpeak, reffpeak
1140+
1141+
1142+
from .linfnorm_mimo_testcases import continuous_time_mimo, discrete_time_mimo
1143+
1144+
11051145
class TestLinfnorm:
1106-
# these are relatively simple examples
1107-
# the underdamped gpeak and fpeak are found from
1108-
# gpeak = 1/(2*zeta*(1-zeta**2)**0.5
1109-
# fpeak = wn*(1-2*zeta**2)**0.5
11101146
@slycotonly
1111-
@pytest.mark.parametrize(
1112-
"name, sys, refgpeak, reffpeak",
1113-
[
1114-
('lpf', ct.tf([1],[1,1]), 1, 0),
1115-
('static', ct.tf([1.23],[1]), 1.23, 0),
1116-
('underdamped', ct.tf([100],[1, 2*0.1*10, 100]), 5.02518907629606, 9.89949493661),
1117-
('hpf', ct.tf([1, 0], [1, 1]), 1, np.inf),
1118-
('integrator', ct.tf([1],[1,0]), np.inf, 0),
1119-
('undamped', ct.tf([1],[1, 0, 144]), np.inf, 12),
1120-
('zero', ct.tf([0],[1, 0, 144]), 0, 0),
1121-
])
1122-
def test_linfnorm_siso_continuoustime(self, name, sys, refgpeak, reffpeak):
1147+
# @pytest.mark.parametrize(
1148+
# "name, sys, refgpeak, reffpeak",
1149+
# [
1150+
# ])
1151+
def test_linfnorm_siso_continuoustime(self, continuous_time_siso):
1152+
sys, refgpeak, reffpeak = continuous_time_siso
11231153
gpeak, fpeak = linfnorm(sys)
11241154
np.testing.assert_allclose(gpeak, refgpeak)
11251155
np.testing.assert_allclose(fpeak, reffpeak)
11261156

11271157

1128-
# these are the continuous-time examples with some tweaks
11291158
@slycotonly
1130-
@pytest.mark.parametrize(
1131-
"name, sys, refgpeak, reffpeak",
1132-
[
1133-
('lpf', ct.c2d(ct.tf([1],[1,1]), 0.1), 1, 0),
1134-
('static', ct.c2d(ct.tf([1.23],[1]), 0.1), 1.23, 0),
1135-
# the gain and frequency don't quite match the continuous-time case,
1136-
# I assume due to c2d imperfection
1137-
('underdamped', ct.c2d(ct.tf([100],[1, 2*0.1*10, 100]), 0.01), 5.023137, 9.899412),
1138-
# The HPF fpeak is the Nyquist frequency
1139-
# Assume gpeak mismatch is again c2d mismatch
1140-
('hpf', ct.c2d(ct.tf([1, 0], [1, 1]), 0.1), 1.04995845, np.pi * 10),
1141-
('integrator', ct.c2d(ct.tf([1],[1,0]), 0.1), np.inf, 0),
1142-
('undamped', ct.c2d(ct.tf([1],[1, 0, 144]), 0.003), np.inf, 12),
1143-
# ss call works around Scipy's "Badly conditioned filter coefficients" warning
1144-
('zero', ct.c2d(ct.ss(ct.tf([0],[1, 0, 144])), 0.003), 0, 0),
1145-
])
1146-
def test_linfnorm_siso_discretetime(self, name, sys, refgpeak, reffpeak):
1159+
def test_linfnorm_siso_discretetime(self, discrete_time_siso):
1160+
sys, refgpeak, reffpeak = discrete_time_siso
11471161
gpeak, fpeak = linfnorm(sys)
11481162
np.testing.assert_allclose(gpeak, refgpeak)
11491163
np.testing.assert_allclose(fpeak, reffpeak)

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