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ease precision tolerance for iosys tests#366

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42 changes: 21 additions & 21 deletionscontrol/tests/iosys_test.py
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Original file line numberDiff line numberDiff line change
Expand Up@@ -60,7 +60,7 @@ def test_linear_iosys(self):
lti_t, lti_y, lti_x = ct.forced_response(linsys, T, U, X0)
ios_t, ios_y = ios.input_output_response(iosys, T, U, X0)
np.testing.assert_array_almost_equal(lti_t, ios_t)
np.testing.assert_array_almost_equal(lti_y, ios_y, decimal=3)
np.testing.assert_allclose(lti_y, ios_y,atol=0.002,rtol=0.)

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

def test_ss2io(self):
# Create an input/output system from the linear system
Expand DownExpand Up@@ -161,7 +161,7 @@ def test_nonlinear_iosys(self):
lti_t, lti_y, lti_x = ct.forced_response(linsys, T, U, X0)
ios_t, ios_y = ios.input_output_response(nlsys, T, U, X0)
np.testing.assert_array_almost_equal(lti_t, ios_t)
np.testing.assert_array_almost_equal(lti_y, ios_y, decimal=3)
np.testing.assert_allclose(lti_y, ios_y,atol=0.002,rtol=0.)

def test_linearize(self):
# Create a single input/single output linear system
Expand DownExpand Up@@ -214,7 +214,7 @@ def test_connect(self):
iosys_series, T, U, X0, return_x=True)
lti_t, lti_y, lti_x = ct.forced_response(linsys_series, T, U, X0)
np.testing.assert_array_almost_equal(lti_t, ios_t)
np.testing.assert_array_almost_equal(lti_y, ios_y, decimal=3)
np.testing.assert_allclose(lti_y, ios_y,atol=0.002,rtol=0.)

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

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

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

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

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

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

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

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

# Negation
linsys_negate = ct.negate(linsys1)
iosys_negate = ct.negate(linio1)
lin_t, lin_y, lin_x = ct.forced_response(linsys_negate, T, U, X0)
ios_t, ios_y = ios.input_output_response(iosys_negate, T, U, X0)
np.testing.assert_array_almost_equal(ios_y, lin_y, decimal=3)
np.testing.assert_allclose(ios_y, lin_y,atol=0.002,rtol=0.)

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

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

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

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

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

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

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

def test_find_eqpts(self):
"""Test find_eqpt function"""
Expand DownExpand Up@@ -738,7 +738,7 @@ def test_params(self):

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

def test_named_signals(self):
sys1 = ios.NonlinearIOSystem(
Expand Down
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