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Commit66bee9d

Browse files
bnavigatormurrayrm
authored andcommitted
ease precision tolerenace for iosys tests (#366)
1 parenta7f5f1c commit66bee9d

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1 file changed

+21
-21
lines changed

1 file changed

+21
-21
lines changed

‎control/tests/iosys_test.py

Lines changed: 21 additions & 21 deletions
Original file line numberDiff line numberDiff line change
@@ -60,7 +60,7 @@ def test_linear_iosys(self):
6060
lti_t,lti_y,lti_x=ct.forced_response(linsys,T,U,X0)
6161
ios_t,ios_y=ios.input_output_response(iosys,T,U,X0)
6262
np.testing.assert_array_almost_equal(lti_t,ios_t)
63-
np.testing.assert_array_almost_equal(lti_y,ios_y,decimal=3)
63+
np.testing.assert_allclose(lti_y,ios_y,atol=0.002,rtol=0.)
6464

6565
@unittest.skipIf(StrictVersion(sp.__version__)<"1.0",
6666
"requires SciPy 1.0 or greater")
@@ -75,7 +75,7 @@ def test_tf2io(self):
7575
lti_t,lti_y,lti_x=ct.forced_response(linsys,T,U,X0)
7676
ios_t,ios_y=ios.input_output_response(iosys,T,U,X0)
7777
np.testing.assert_array_almost_equal(lti_t,ios_t)
78-
np.testing.assert_array_almost_equal(lti_y,ios_y,decimal=3)
78+
np.testing.assert_allclose(lti_y,ios_y,atol=0.002,rtol=0.)
7979

8080
deftest_ss2io(self):
8181
# Create an input/output system from the linear system
@@ -161,7 +161,7 @@ def test_nonlinear_iosys(self):
161161
lti_t,lti_y,lti_x=ct.forced_response(linsys,T,U,X0)
162162
ios_t,ios_y=ios.input_output_response(nlsys,T,U,X0)
163163
np.testing.assert_array_almost_equal(lti_t,ios_t)
164-
np.testing.assert_array_almost_equal(lti_y,ios_y,decimal=3)
164+
np.testing.assert_allclose(lti_y,ios_y,atol=0.002,rtol=0.)
165165

166166
deftest_linearize(self):
167167
# Create a single input/single output linear system
@@ -214,7 +214,7 @@ def test_connect(self):
214214
iosys_series,T,U,X0,return_x=True)
215215
lti_t,lti_y,lti_x=ct.forced_response(linsys_series,T,U,X0)
216216
np.testing.assert_array_almost_equal(lti_t,ios_t)
217-
np.testing.assert_array_almost_equal(lti_y,ios_y,decimal=3)
217+
np.testing.assert_allclose(lti_y,ios_y,atol=0.002,rtol=0.)
218218

219219
# Connect systems with different timebases
220220
linsys2c=self.siso_linsys
@@ -231,7 +231,7 @@ def test_connect(self):
231231
iosys_series,T,U,X0,return_x=True)
232232
lti_t,lti_y,lti_x=ct.forced_response(linsys_series,T,U,X0)
233233
np.testing.assert_array_almost_equal(lti_t,ios_t)
234-
np.testing.assert_array_almost_equal(lti_y,ios_y,decimal=3)
234+
np.testing.assert_allclose(lti_y,ios_y,atol=0.002,rtol=0.)
235235

236236
# Feedback interconnection
237237
linsys_feedback=ct.feedback(linsys1,linsys2)
@@ -246,7 +246,7 @@ def test_connect(self):
246246
iosys_feedback,T,U,X0,return_x=True)
247247
lti_t,lti_y,lti_x=ct.forced_response(linsys_feedback,T,U,X0)
248248
np.testing.assert_array_almost_equal(lti_t,ios_t)
249-
np.testing.assert_array_almost_equal(lti_y,ios_y,decimal=3)
249+
np.testing.assert_allclose(lti_y,ios_y,atol=0.002,rtol=0.)
250250

251251
@unittest.skipIf(StrictVersion(sp.__version__)<"1.0",
252252
"requires SciPy 1.0 or greater")
@@ -357,7 +357,7 @@ def test_summer(self):
357357

358358
lin_t,lin_y,lin_x=ct.forced_response(linsys_parallel,T,U,X0)
359359
ios_t,ios_y=ios.input_output_response(iosys_parallel,T,U,X0)
360-
np.testing.assert_array_almost_equal(ios_y,lin_y,decimal=3)
360+
np.testing.assert_allclose(ios_y,lin_y,atol=0.002,rtol=0.)
361361

362362
@unittest.skipIf(StrictVersion(sp.__version__)<"1.0",
363363
"requires SciPy 1.0 or greater")
@@ -420,7 +420,7 @@ def test_feedback(self):
420420

421421
ios_t,ios_y=ios.input_output_response(iosys,T,U,X0)
422422
lti_t,lti_y,lti_x=ct.forced_response(linsys,T,U,X0)
423-
np.testing.assert_array_almost_equal(ios_y,lti_y,decimal=3)
423+
np.testing.assert_allclose(ios_y,lti_y,atol=0.002,rtol=0.)
424424

425425
@unittest.skipIf(StrictVersion(sp.__version__)<"1.0",
426426
"requires SciPy 1.0 or greater")
@@ -442,7 +442,7 @@ def test_bdalg_functions(self):
442442
iosys_series=ct.series(linio1,linio2)
443443
lin_t,lin_y,lin_x=ct.forced_response(linsys_series,T,U,X0)
444444
ios_t,ios_y=ios.input_output_response(iosys_series,T,U,X0)
445-
np.testing.assert_array_almost_equal(ios_y,lin_y,decimal=3)
445+
np.testing.assert_allclose(ios_y,lin_y,atol=0.002,rtol=0.)
446446

447447
# Make sure that systems don't commute
448448
linsys_series=ct.series(linsys2,linsys1)
@@ -454,21 +454,21 @@ def test_bdalg_functions(self):
454454
iosys_parallel=ct.parallel(linio1,linio2)
455455
lin_t,lin_y,lin_x=ct.forced_response(linsys_parallel,T,U,X0)
456456
ios_t,ios_y=ios.input_output_response(iosys_parallel,T,U,X0)
457-
np.testing.assert_array_almost_equal(ios_y,lin_y,decimal=3)
457+
np.testing.assert_allclose(ios_y,lin_y,atol=0.002,rtol=0.)
458458

459459
# Negation
460460
linsys_negate=ct.negate(linsys1)
461461
iosys_negate=ct.negate(linio1)
462462
lin_t,lin_y,lin_x=ct.forced_response(linsys_negate,T,U,X0)
463463
ios_t,ios_y=ios.input_output_response(iosys_negate,T,U,X0)
464-
np.testing.assert_array_almost_equal(ios_y,lin_y,decimal=3)
464+
np.testing.assert_allclose(ios_y,lin_y,atol=0.002,rtol=0.)
465465

466466
# Feedback interconnection
467467
linsys_feedback=ct.feedback(linsys1,linsys2)
468468
iosys_feedback=ct.feedback(linio1,linio2)
469469
lin_t,lin_y,lin_x=ct.forced_response(linsys_feedback,T,U,X0)
470470
ios_t,ios_y=ios.input_output_response(iosys_feedback,T,U,X0)
471-
np.testing.assert_array_almost_equal(ios_y,lin_y,decimal=3)
471+
np.testing.assert_allclose(ios_y,lin_y,atol=0.002,rtol=0.)
472472

473473
@unittest.skipIf(StrictVersion(sp.__version__)<"1.0",
474474
"requires SciPy 1.0 or greater")
@@ -496,26 +496,26 @@ def test_nonsquare_bdalg(self):
496496
iosys_multiply=iosys_3i2o*iosys_2i3o
497497
lin_t,lin_y,lin_x=ct.forced_response(linsys_multiply,T,U2,X0)
498498
ios_t,ios_y=ios.input_output_response(iosys_multiply,T,U2,X0)
499-
np.testing.assert_array_almost_equal(ios_y,lin_y,decimal=3)
499+
np.testing.assert_allclose(ios_y,lin_y,atol=0.002,rtol=0.)
500500

501501
linsys_multiply=linsys_2i3o*linsys_3i2o
502502
iosys_multiply=iosys_2i3o*iosys_3i2o
503503
lin_t,lin_y,lin_x=ct.forced_response(linsys_multiply,T,U3,X0)
504504
ios_t,ios_y=ios.input_output_response(iosys_multiply,T,U3,X0)
505-
np.testing.assert_array_almost_equal(ios_y,lin_y,decimal=3)
505+
np.testing.assert_allclose(ios_y,lin_y,atol=0.002,rtol=0.)
506506

507507
# Right multiplication
508508
# TODO: add real tests once conversion from other types is supported
509509
iosys_multiply=ios.InputOutputSystem.__rmul__(iosys_3i2o,iosys_2i3o)
510510
ios_t,ios_y=ios.input_output_response(iosys_multiply,T,U3,X0)
511-
np.testing.assert_array_almost_equal(ios_y,lin_y,decimal=3)
511+
np.testing.assert_allclose(ios_y,lin_y,atol=0.002,rtol=0.)
512512

513513
# Feedback
514514
linsys_multiply=ct.feedback(linsys_3i2o,linsys_2i3o)
515515
iosys_multiply=iosys_3i2o.feedback(iosys_2i3o)
516516
lin_t,lin_y,lin_x=ct.forced_response(linsys_multiply,T,U3,X0)
517517
ios_t,ios_y=ios.input_output_response(iosys_multiply,T,U3,X0)
518-
np.testing.assert_array_almost_equal(ios_y,lin_y,decimal=3)
518+
np.testing.assert_allclose(ios_y,lin_y,atol=0.002,rtol=0.)
519519

520520
# Mismatch should generate exception
521521
args= (iosys_3i2o,iosys_3i2o)
@@ -536,8 +536,8 @@ def test_discrete(self):
536536
# Simulate and compare to LTI output
537537
ios_t,ios_y=ios.input_output_response(lnios,T,U,X0)
538538
lin_t,lin_y,lin_x=ct.forced_response(linsys,T,U,X0)
539-
np.testing.assert_array_almost_equal(ios_t,lin_t,decimal=3)
540-
np.testing.assert_array_almost_equal(ios_y,lin_y,decimal=3)
539+
np.testing.assert_allclose(ios_t,lin_t,atol=0.002,rtol=0.)
540+
np.testing.assert_allclose(ios_y,lin_y,atol=0.002,rtol=0.)
541541

542542
# Test MIMO system, converted to discrete time
543543
linsys=ct.StateSpace(self.mimo_linsys1)
@@ -552,8 +552,8 @@ def test_discrete(self):
552552
# Simulate and compare to LTI output
553553
ios_t,ios_y=ios.input_output_response(lnios,T,U,X0)
554554
lin_t,lin_y,lin_x=ct.forced_response(linsys,T,U,X0)
555-
np.testing.assert_array_almost_equal(ios_t,lin_t,decimal=3)
556-
np.testing.assert_array_almost_equal(ios_y,lin_y,decimal=3)
555+
np.testing.assert_allclose(ios_t,lin_t,atol=0.002,rtol=0.)
556+
np.testing.assert_allclose(ios_y,lin_y,atol=0.002,rtol=0.)
557557

558558
deftest_find_eqpts(self):
559559
"""Test find_eqpt function"""
@@ -738,7 +738,7 @@ def test_params(self):
738738

739739
# Check to make sure results are OK
740740
np.testing.assert_array_almost_equal(lti_t,ios_t)
741-
np.testing.assert_array_almost_equal(lti_y,ios_y,decimal=3)
741+
np.testing.assert_allclose(lti_y,ios_y,atol=0.002,rtol=0.)
742742

743743
deftest_named_signals(self):
744744
sys1=ios.NonlinearIOSystem(

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