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Tests for stability_margin and phase_crossover_frequencies with discrete TF

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control/tests
- margin_test.py

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`‎control/tests/margin_test.py`

Lines changed: 34 additions & 11 deletions

Original file line number	Diff line number	Diff line change
`@@ -3,7 +3,8 @@`
`3`	`3`	`margin_test.py - test suite for stability margin commands`
`4`	`4`
`5`	`5`	`RMM, 15 Jul 2011`
`6`		`-BG, 30 June 2020 -- convert to pytest, gh-425`
	`6`	`+BG, 30 Jun 2020 -- convert to pytest, gh-425`
	`7`	`+BG, 16 Nov 2020 -- pick from gh-438 and add discrete test`
`7`	`8`	`"""`
`8`	`9`	`from __future__importprint_function`
`9`	`10`
`@@ -113,19 +114,24 @@ def test_margin_3input(tsys):`
`113`	`114`	`assert_allclose(out,np.array(refout)[[0,1,3,4]],atol=1.5e-3)`
`114`	`115`
`115`	`116`
`116`		`-deftest_phase_crossover_frequencies():`
	`117`	`+@pytest.mark.parametrize(`
	`118`	`+'tfargs, omega_ref, gain_ref',`
	`119`	`+ [(([1], [1,2,3,4]), [1.7325,0.], [-0.5,0.25]),`
	`120`	`+ (([1], [1,1]), [0.], [1.]),`
	`121`	`+ (([2], [1,3,3,1]), [1.732,0.], [-0.25,2.]),`
	`122`	`+ ((np.array([3,11,3])*1e-4, [1.,-2.7145,2.4562,-0.7408],.1),`
	`123`	`+ [1.6235,0.], [-0.28598,1.88889]),`
	`124`	`+ ])`
	`125`	`+deftest_phase_crossover_frequencies(tfargs,omega_ref,gain_ref):`
`117`	`126`	`"""Test phase_crossover_frequencies() function"""`
`118`		`-sys=TransferFunction([1], [1,2,3,4])`
	`127`	`+sys=TransferFunction(*tfargs)`
`119`	`128`	`omega,gain=phase_crossover_frequencies(sys)`
`120`		`-assert_allclose(omega,[1.73205,0.],atol=1.5e-3)`
`121`		`-assert_allclose(gain,[-0.5,0.25],atol=1.5e-3)`
	`129`	`+assert_allclose(omega,omega_ref,atol=1.5e-3)`
	`130`	`+assert_allclose(gain,gain_ref,atol=1.5e-3)`
`122`	`131`
`123`		`-tf=TransferFunction([1], [1,1])`
`124`		`-omega,gain=phase_crossover_frequencies(tf)`
`125`		`-assert_allclose(omega, [0.],atol=1.5e-3)`
`126`		`-assert_allclose(gain, [1.],atol=1.5e-3)`
`127`	`132`
`128`		`-# MIMO`
	`133`	`+deftest_phase_crossover_frequencies_mimo():`
	`134`	`+"""Test MIMO exception"""`
`129`	`135`	`tf=TransferFunction([[[1], [2]],`
`130`	`136`	`[[3], [4]]],`
`131`	`137`	`[[[1,2,3,4], [1,1]],`
`@@ -134,7 +140,6 @@ def test_phase_crossover_frequencies():`
`134`	`140`	`omega,gain=phase_crossover_frequencies(tf)`
`135`	`141`
`136`	`142`
`137`		`-`
`138`	`143`	`deftest_mag_phase_omega():`
`139`	`144`	`"""Test for bug reported in gh-58"""`
`140`	`145`	`sys=TransferFunction(15, [1,6,11,6])`
`@@ -327,3 +332,21 @@ def test_zmore_stability_margins(tsys_zmore):`
`327`	`332`	`tsys_zmore['result'],`
`328`	`333`	`atol=tsys_zmore['atol'],`
`329`	`334`	`rtol=tsys_zmore['rtol'])`
	`335`	`+`
	`336`	`+`
	`337`	`+@pytest.mark.parametrize(`
	`338`	`+'cnum, cden, dt,'`
	`339`	`+'ref,'`
	`340`	`+'rtol',`
	`341`	`+ [([2], [1,3,2,0],1e-2,# gh-465`
	`342`	`+ (2.9558,32.8170,0.43584,1.4037,0.74953,0.97079),`
	`343`	`+0.1# very crude tolerance, because the gradients are not great`
	`344`	`+ ),`
	`345`	`+ ([2], [1,3,3,1],.1,# 2/(s+1)**3`
	`346`	`+ [3.4927,69.9996,0.5763,1.6283,0.7631,1.2019],`
	`347`	`+1e-3)])`
	`348`	`+deftest_stability_margins_discrete(cnum,cden,dt,ref,rtol):`
	`349`	`+"""Test stability_margins with discrete TF input"""`
	`350`	`+tf=TransferFunction(cnum,cden).sample(dt)`
	`351`	`+out=stability_margins(tf)`
	`352`	`+assert_allclose(out,ref,rtol=rtol)`

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