from __future__importprint_function

from __future__importdivision# for _convertToStateSpace

from .xferfcnimportTransferFunction

ifisinstance(sys,StateSpace):

iflen(kw):

raiseTypeError("If sys is a StateSpace, _convertToStateSpace\

ssout[3][:sys.outputs, :states],

ssout[4],sys.dt)

exceptImportError:

if (sys.inputs!=1orsys.outputs!=1):

raiseTypeError("No support for MIMO without slycot")

lti_sys=lti(squeeze(sys.num),squeeze(sys.den))

returnStateSpace(lti_sys.A,lti_sys.B,lti_sys.C,lti_sys.D,

sys.dt)

maxn=max(max(len(n)forninnrow)

fornrowinsys.num)

maxd=max(max(len(d)fordindrow)

fordrowinsys.den)

if1==maxnand1==maxd:

D=empty((sys.outputs,sys.inputs),dtype=float)

fori,jinitertools.product(range(sys.outputs),range(sys.inputs)):

D[i,j]=sys.num[i][j][0]/sys.den[i][j][0]

returnStateSpace([], [], [],D,sys.dt)

else:

if (sys.inputs!=1orsys.outputs!=1):

raiseTypeError("No support for MIMO without slycot")

lti_sys=lti(squeeze(sys.num),squeeze(sys.den))

returnStateSpace(lti_sys.A,lti_sys.B,lti_sys.C,lti_sys.D,

sys.dt)

elifisinstance(sys, (int,float,complex)):

if"inputs"inkw:

if (notslycot_check()):

self.assertRaises(TypeError,control.tf2ss,tfcn)

deftestTf2ssStaticSiso(self):

gsiso=control.tf2ss(control.tf(23,46))

self.assertEqual(0,gsiso.states)

self.assertEqual(1,gsiso.inputs)

self.assertEqual(1,gsiso.outputs)

np.testing.assert_array_equal([[0.5]],gsiso.D)

deftestTf2ssStaticMimo(self):

gmimo=control.tf2ss(control.tf([[ [23], [3], [5] ], [ [-1], [0.125], [101.3] ]],

[[ [46], [0.1], [80] ], [ [2], [-0.1], [1] ]]))

self.assertEqual(0,gmimo.states)

self.assertEqual(3,gmimo.inputs)

self.assertEqual(2,gmimo.outputs)

d=np.matrix([[0.5,30,0.0625], [-0.5,-1.25,101.3]])

np.testing.assert_array_equal(d,gmimo.D)

defsuite():

returnunittest.TestLoader().loadTestsFromTestCase(TestConvert)