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Commit90c564c

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skip impulse sampling for old scipy
1 parentdaf2536 commit90c564c

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1 file changed

+33
-26
lines changed

1 file changed

+33
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‎control/tests/timeresp_test.py

Lines changed: 33 additions & 26 deletions
Original file line numberDiff line numberDiff line change
@@ -9,7 +9,12 @@
99
# specific unit tests will do that.
1010

1111
importunittest
12+
fromdistutils.versionimportStrictVersion
13+
1214
importnumpyasnp
15+
importpytest
16+
importscipyassp
17+
1318
fromcontrol.timerespimport*
1419
fromcontrol.timerespimport_ideal_tfinal_and_dt,_default_time_vector
1520
fromcontrol.statespimport*
@@ -29,11 +34,11 @@ def setUp(self):
2934
# Create some transfer functions
3035
self.siso_tf1=TransferFunction([1], [1,2,1])
3136
self.siso_tf2=_convert_to_transfer_function(self.siso_ss1)
32-
37+
3338
# tests for pole cancellation
34-
self.pole_cancellation=TransferFunction([1.067e+05,5.791e+04],
39+
self.pole_cancellation=TransferFunction([1.067e+05,5.791e+04],
3540
[10.67,1.067e+05,5.791e+04])
36-
self.no_pole_cancellation=TransferFunction([1.881e+06],
41+
self.no_pole_cancellation=TransferFunction([1.881e+06],
3742
[188.1,1.881e+06])
3843

3944
# Create MIMO system, contains ``siso_ss1`` twice
@@ -177,8 +182,8 @@ def test_step_info(self):
177182
# https://github.com/python-control/python-control/issues/440
178183
step_info_no_cancellation=step_info(self.no_pole_cancellation)
179184
step_info_cancellation=step_info(self.pole_cancellation)
180-
forkeyinstep_info_no_cancellation:
181-
np.testing.assert_allclose(step_info_no_cancellation[key],
185+
forkeyinstep_info_no_cancellation:
186+
np.testing.assert_allclose(step_info_no_cancellation[key],
182187
step_info_cancellation[key],rtol=1e-4)
183188

184189
deftest_impulse_response(self):
@@ -218,6 +223,8 @@ def test_impulse_response(self):
218223
np.testing.assert_array_almost_equal(
219224
yy,np.vstack((youttrue,np.zeros_like(youttrue))),decimal=4)
220225

226+
@pytest.mark.skipif(StrictVersion(sp.__version__)<"1.3.0",
227+
reason="requires SciPy 1.3.0 or greater")
221228
deftest_discrete_time_impulse(self):
222229
# discrete time impulse sampled version should match cont time
223230
dt=0.1
@@ -226,7 +233,7 @@ def test_discrete_time_impulse(self):
226233
sysdt=sys.sample(dt,'impulse')
227234
np.testing.assert_array_almost_equal(impulse_response(sys,t)[1],
228235
impulse_response(sysdt,t)[1])
229-
236+
230237
deftest_initial_response(self):
231238
# Test SISO system
232239
sys=self.siso_ss1
@@ -363,7 +370,7 @@ def test_step_robustness(self):
363370
"Unit test: https://github.com/python-control/python-control/issues/240"
364371
# Create 2 input, 2 output system
365372
num= [ [[0], [1]], [[1], [0]] ]
366-
373+
367374
den1= [ [[1], [1,1]], [[1,4], [1]] ]
368375
sys1=TransferFunction(num,den1)
369376

@@ -381,47 +388,47 @@ def test_auto_generated_time_vector(self):
381388
ratio=9.21034*p# taken from code
382389
ratio2=25*p
383390
np.testing.assert_array_almost_equal(
384-
_ideal_tfinal_and_dt(TransferFunction(1, [1,.5]))[0],
391+
_ideal_tfinal_and_dt(TransferFunction(1, [1,.5]))[0],
385392
(ratio/p))
386393
np.testing.assert_array_almost_equal(
387-
_ideal_tfinal_and_dt(TransferFunction(1, [1,.5]).sample(.1))[0],
394+
_ideal_tfinal_and_dt(TransferFunction(1, [1,.5]).sample(.1))[0],
388395
(ratio2/p))
389396
# confirm a TF with poles at 0 and p simulates for ratio/p seconds
390397
np.testing.assert_array_almost_equal(
391-
_ideal_tfinal_and_dt(TransferFunction(1, [1,.5,0]))[0],
398+
_ideal_tfinal_and_dt(TransferFunction(1, [1,.5,0]))[0],
392399
(ratio2/p))
393400

394-
# confirm a TF with a natural frequency of wn rad/s gets a
401+
# confirm a TF with a natural frequency of wn rad/s gets a
395402
# dt of 1/(ratio*wn)
396403
wn=10
397404
ratio_dt=1/(0.025133*ratio*wn)
398405
np.testing.assert_array_almost_equal(
399-
_ideal_tfinal_and_dt(TransferFunction(1, [1,0,wn**2]))[1],
406+
_ideal_tfinal_and_dt(TransferFunction(1, [1,0,wn**2]))[1],
400407
1/(ratio_dt*ratio*wn))
401408
wn=100
402409
np.testing.assert_array_almost_equal(
403-
_ideal_tfinal_and_dt(TransferFunction(1, [1,0,wn**2]))[1],
410+
_ideal_tfinal_and_dt(TransferFunction(1, [1,0,wn**2]))[1],
404411
1/(ratio_dt*ratio*wn))
405412
zeta=.1
406413
np.testing.assert_array_almost_equal(
407-
_ideal_tfinal_and_dt(TransferFunction(1, [1,2*zeta*wn,wn**2]))[1],
414+
_ideal_tfinal_and_dt(TransferFunction(1, [1,2*zeta*wn,wn**2]))[1],
408415
1/(ratio_dt*ratio*wn))
409416
# but a smapled one keeps its dt
410417
np.testing.assert_array_almost_equal(
411-
_ideal_tfinal_and_dt(TransferFunction(1, [1,2*zeta*wn,wn**2]).sample(.1))[1],
418+
_ideal_tfinal_and_dt(TransferFunction(1, [1,2*zeta*wn,wn**2]).sample(.1))[1],
412419
.1)
413420
np.testing.assert_array_almost_equal(
414-
np.diff(initial_response(TransferFunction(1, [1,2*zeta*wn,wn**2]).sample(.1))[0][0:2]),
421+
np.diff(initial_response(TransferFunction(1, [1,2*zeta*wn,wn**2]).sample(.1))[0][0:2]),
415422
.1)
416423
np.testing.assert_array_almost_equal(
417-
_ideal_tfinal_and_dt(TransferFunction(1, [1,2*zeta*wn,wn**2]))[1],
424+
_ideal_tfinal_and_dt(TransferFunction(1, [1,2*zeta*wn,wn**2]))[1],
418425
1/(ratio_dt*ratio*wn))
419-
420-
426+
427+
421428
# TF with fast oscillations simulates only 5000 time steps even with long tfinal
422-
self.assertEqual(5000,
429+
self.assertEqual(5000,
423430
len(_default_time_vector(TransferFunction(1, [1,0,wn**2]),tfinal=100)))
424-
431+
425432
sys=TransferFunction(1, [1,.5,0])
426433
sysdt=TransferFunction(1, [1,.5,0],.1)
427434
# test impose number of time steps
@@ -430,16 +437,16 @@ def test_auto_generated_time_vector(self):
430437
self.assertNotEqual(15,len(step_response(sysdt,T_num=15)[0]))
431438
# test impose final time
432439
np.testing.assert_array_almost_equal(
433-
100,
440+
100,
434441
np.ceil(step_response(sys,100)[0][-1]))
435442
np.testing.assert_array_almost_equal(
436-
100,
443+
100,
437444
np.ceil(step_response(sysdt,100)[0][-1]))
438445
np.testing.assert_array_almost_equal(
439-
100,
446+
100,
440447
np.ceil(impulse_response(sys,100)[0][-1]))
441448
np.testing.assert_array_almost_equal(
442-
100,
449+
100,
443450
np.ceil(initial_response(sys,100)[0][-1]))
444451

445452

@@ -490,7 +497,7 @@ def test_time_vector(self):
490497
np.testing.assert_array_equal(tout,Tin1)
491498

492499
# MIMO forced response
493-
tout,yout,xout=forced_response(self.mimo_dss1,Tin1,
500+
tout,yout,xout=forced_response(self.mimo_dss1,Tin1,
494501
(np.sin(Tin1),np.cos(Tin1)),
495502
mimo_x0)
496503
self.assertEqual(np.shape(tout),np.shape(yout[0,:]))

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