Jul 2, 2018 · May 29, 2018 · May 29, 2018 · May 29, 2018 · May 29, 2018 · May 29, 2018
diff --git a/control/statesp.py b/control/statesp.py
                                                  [1., 1., 1.]].

    """

    from .xferfcn import TransferFunction
    import itertools
    if isinstance(sys, StateSpace):
        try:
            from slycot import td04ad
            if len(kw):
                raise TypeError("If sys is a TransferFunction,_convertToStateSpace \
    cannot take keywords.")
                raise TypeError("If sys is a TransferFunction,"
                            "_convertToStateSpacecannot take keywords.")

            # Change the numerator and denominator arrays so that the transfer
            # function matrix has a common denominator.
            num, den = sys._common_den()
            # Make a list of the orders of the denominator polynomials.
            index = [len(den) - 1 for i in range(sys.outputs)]
            # Repeat the common denominator along the rows.
            den = array([den for i in range(sys.outputs)])
            #! TODO: transfer function to state space conversion is still buggy!
            #print num
            #print shape(num)
            ssout = td04ad('R',sys.inputs, sys.outputs, index, den, num,tol=0.0)
            # matrices are also sized/padded to fit td04ad
            num, den, denorder = sys.minreal()._common_den()

            # transfer function to state space conversion now should work!
            ssout = td04ad('C', sys.inputs, sys.outputs,
                           denorder, den, num, tol=0)

            states = ssout[0]
            return StateSpace(ssout[1][:states, :states],
diff --git a/control/tests/convert_test.py b/control/tests/convert_test.py
        # Set to True to print systems to the output.
        self.debug = False
        # get consistent results
        np.random.seed(9)
        np.random.seed(7)

    def printSys(self, sys, ind):
        """Print system to the standard output."""
                            ssxfrm_real = ssxfrm_mag * np.cos(ssxfrm_phase)
                            ssxfrm_imag = ssxfrm_mag * np.sin(ssxfrm_phase)
                            np.testing.assert_array_almost_equal( \
 ssorig_real, ssxfrm_real)
                            ssorig_real, ssxfrm_real)
                            np.testing.assert_array_almost_equal( \
                                ssorig_imag, ssxfrm_imag)

                            ssorig_imag, ssxfrm_imag)
                            #
                            # Make sure xform'd TF has same frequency response
                            #
        """Regression: tf2ss for MIMO static gain"""
        import control
        # 2x3 TFM
        gmimo = control.tf2ss(control.tf([[ [23],   [3],  [5] ], [ [-1],  [0.125],  [101.3] ]],
                                         [[ [46], [0.1], [80] ], [  [2],   [-0.1],      [1] ]]))
        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)
        numref = np.asarray(d)[...,np.newaxis]
        np.testing.assert_array_equal(numref, np.array(gtf.num) / np.array(gtf.den))

    def testTf2SsDuplicatePoles(self):
        """Tests for "too few poles for MIMO tf #111" """
        import control
        try:
            import slycot
            num = [ [ [1], [0] ],
                   [ [0], [1] ] ]

            den = [ [ [1,0], [1] ],
                [ [1],   [1,0] ] ]
            g = control.tf(num, den)
            s = control.ss(g)
            np.testing.assert_array_equal(g.pole(), s.pole())
        except ImportError:
            print("Slycot not present, skipping")

 def suite():
   return unittest.TestLoader().loadTestsFromTestCase(TestConvert)
diff --git a/control/tests/discrete_test.py b/control/tests/discrete_test.py
 import unittest
 import numpy as np
 from control import *
 from control import matlab

 class TestDiscrete(unittest.TestCase):
    """Tests for the DiscreteStateSpace class."""
diff --git a/control/tests/matlab_test.py b/control/tests/matlab_test.py
    @unittest.skipIf(not slycot_check(), "slycot not installed")
    def testModred(self):
        modred(self.siso_ss1, [1])
        modred(self.siso_ss2 * self.siso_ss3, [0, 1])
        modred(self.siso_ss3, [1], 'matchdc')
        modred(self.siso_ss3, [1], 'truncate')
        modred(self.siso_ss2 * self.siso_ss1, [0, 1])
        modred(self.siso_ss1, [1], 'matchdc')
        modred(self.siso_ss1, [1], 'truncate')

    @unittest.skipIf(not slycot_check(), "slycot not installed")
    def testPlace_varga(self):
diff --git a/control/tests/xferfcn_test.py b/control/tests/xferfcn_test.py
            [[[1., 2.], [1., 3.]], [[1., 4., 4.], [1., 9., 14.]]])
        p = sys.pole()

        np.testing.assert_array_almost_equal(p, [-7., -3., -2., -2.])

    # Tests for TransferFunction.feedback.
        np.testing.assert_array_almost_equal(p, [-2., -2., -7., -3., -2.])

    @unittest.skipIf(not slycot_check(), "slycot not installed")
    def testDoubleCancelingPoleSiso(self):

        H = TransferFunction([1,1],[1,2,1])
        p = H.pole()
        np.testing.assert_array_almost_equal(p, [-1, -1])

    # Tests for TransferFunction.feedback
    def testFeedbackSISO(self):
        """Test for correct SISO transfer function feedback."""
Original file line number	Diff line number	Diff line change
Expand Up		@@ -757,7 +757,6 @@ def _convertToStateSpace(sys, **kw):
		[1., 1., 1.]].

		"""

		from .xferfcn import TransferFunction
		import itertools
		if isinstance(sys, StateSpace):
Expand All		@@ -771,20 +770,17 @@ def _convertToStateSpace(sys, **kw):
		try:
		from slycot import td04ad
		if len(kw):
		raise TypeError("If sys is a TransferFunction,_convertToStateSpace \
		cannot take keywords.")
		raise TypeError("If sys is a TransferFunction,"
		"_convertToStateSpacecannot take keywords.")

		# Change the numerator and denominator arrays so that the transfer
		# function matrix has a common denominator.
		num, den = sys._common_den()
		# Make a list of the orders of the denominator polynomials.
		index = [len(den) - 1 for i in range(sys.outputs)]
		# Repeat the common denominator along the rows.
		den = array([den for i in range(sys.outputs)])
		#! TODO: transfer function to state space conversion is still buggy!
		#print num
		#print shape(num)
		ssout = td04ad('R',sys.inputs, sys.outputs, index, den, num,tol=0.0)
		# matrices are also sized/padded to fit td04ad
		num, den, denorder = sys.minreal()._common_den()

		# transfer function to state space conversion now should work!
		ssout = td04ad('C', sys.inputs, sys.outputs,
		denorder, den, num, tol=0)

		states = ssout[0]
		return StateSpace(ssout[1][:states, :states],
Expand Down
Original file line number	Diff line number	Diff line change
Expand Up		@@ -40,7 +40,7 @@ def setUp(self):
		# Set to True to print systems to the output.
		self.debug = False
		# get consistent results
		np.random.seed(9)
		np.random.seed(7)

		def printSys(self, sys, ind):
		"""Print system to the standard output."""
Expand DownExpand Up		@@ -141,10 +141,9 @@ def testConvert(self):
		ssxfrm_real = ssxfrm_mag * np.cos(ssxfrm_phase)
		ssxfrm_imag = ssxfrm_mag * np.sin(ssxfrm_phase)
		np.testing.assert_array_almost_equal( \
		ssorig_real, ssxfrm_real)
		ssorig_real, ssxfrm_real)
		np.testing.assert_array_almost_equal( \
		ssorig_imag, ssxfrm_imag)

		ssorig_imag, ssxfrm_imag)
		#
		# Make sure xform'd TF has same frequency response
		#
Expand DownExpand Up		@@ -198,8 +197,9 @@ def testTf2ssStaticMimo(self):
		"""Regression: tf2ss for MIMO static gain"""
		import control
		# 2x3 TFM
		gmimo = control.tf2ss(control.tf([[ [23], [3], [5] ], [ [-1], [0.125], [101.3] ]],
		[[ [46], [0.1], [80] ], [ [2], [-0.1], [1] ]]))
		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)
Expand DownExpand Up		@@ -229,6 +229,21 @@ def testSs2tfStaticMimo(self):
		numref = np.asarray(d)[...,np.newaxis]
		np.testing.assert_array_equal(numref, np.array(gtf.num) / np.array(gtf.den))

		def testTf2SsDuplicatePoles(self):
		"""Tests for "too few poles for MIMO tf #111" """
		import control
		try:
		import slycot
		num = [ [ [1], [0] ],
		[ [0], [1] ] ]

		den = [ [ [1,0], [1] ],
		[ [1], [1,0] ] ]
		g = control.tf(num, den)
		s = control.ss(g)
		np.testing.assert_array_equal(g.pole(), s.pole())
		except ImportError:
		print("Slycot not present, skipping")

		def suite():
		return unittest.TestLoader().loadTestsFromTestCase(TestConvert)
Expand Down
Original file line number	Diff line number	Diff line change
Expand Up		@@ -6,6 +6,7 @@
		import unittest
		import numpy as np
		from control import *
		from control import matlab

		class TestDiscrete(unittest.TestCase):
		"""Tests for the DiscreteStateSpace class."""
Expand Down
Original file line number	Diff line number	Diff line change
Expand Up		@@ -396,9 +396,9 @@ def testBalred(self):
		@unittest.skipIf(not slycot_check(), "slycot not installed")
		def testModred(self):
		modred(self.siso_ss1, [1])
		modred(self.siso_ss2 * self.siso_ss3, [0, 1])
		modred(self.siso_ss3, [1], 'matchdc')
		modred(self.siso_ss3, [1], 'truncate')
		modred(self.siso_ss2 * self.siso_ss1, [0, 1])
		modred(self.siso_ss1, [1], 'matchdc')
		modred(self.siso_ss1, [1], 'truncate')

		@unittest.skipIf(not slycot_check(), "slycot not installed")
		def testPlace_varga(self):
Expand Down
Original file line number	Diff line number	Diff line change
Expand Up		@@ -425,10 +425,16 @@ def testPoleMIMO(self):
		[[[1., 2.], [1., 3.]], [[1., 4., 4.], [1., 9., 14.]]])
		p = sys.pole()

		np.testing.assert_array_almost_equal(p, [-7., -3., -2., -2.])

		# Tests for TransferFunction.feedback.
		np.testing.assert_array_almost_equal(p, [-2., -2., -7., -3., -2.])

		@unittest.skipIf(not slycot_check(), "slycot not installed")
		def testDoubleCancelingPoleSiso(self):

		H = TransferFunction([1,1],[1,2,1])
		p = H.pole()
		np.testing.assert_array_almost_equal(p, [-1, -1])

		# Tests for TransferFunction.feedback
		def testFeedbackSISO(self):
		"""Test for correct SISO transfer function feedback."""

Expand Down