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MIMO impulse and step response#514

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1 change: 0 additions & 1 deletioncontrol/config.py
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Original file line numberDiff line numberDiff line change
Expand Up@@ -17,7 +17,6 @@
_control_defaults = {
'control.default_dt': 0,
'control.squeeze_frequency_response': None,
'control.squeeze_time_response': True,
'control.squeeze_time_response': None,
'forced_response.return_x': False,
}
Expand Down
5 changes: 3 additions & 2 deletionscontrol/iosys.py
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Original file line numberDiff line numberDiff line change
Expand Up@@ -1428,8 +1428,9 @@ def input_output_response(sys, T, U=0., X0=0, params={}, method='RK45',
for i in range(len(T)):
u = U[i] if len(U.shape) == 1 else U[:, i]
y[:, i] = sys._out(T[i], [], u)
return _process_time_response(sys, T, y, [], transpose=transpose,
return_x=return_x, squeeze=squeeze)
return _process_time_response(
sys, T, y, np.array((0, 0, np.asarray(T).size)),
transpose=transpose, return_x=return_x, squeeze=squeeze)

# create X0 if not given, test if X0 has correct shape
X0 = _check_convert_array(X0, [(nstates,), (nstates, 1)],
Expand Down
14 changes: 7 additions & 7 deletionscontrol/tests/matlab2_test.py
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Original file line numberDiff line numberDiff line change
Expand Up@@ -121,25 +121,25 @@ def test_step(self, SISO_mats, MIMO_mats, mplcleanup):
#print("gain:", dcgain(sys))

subplot2grid(plot_shape, (0, 0))
t, y = step(sys)
y, t = step(sys)
plot(t, y)

subplot2grid(plot_shape, (0, 1))
T = linspace(0, 2, 100)
X0 = array([1, 1])
t, y = step(sys, T, X0)
y, t = step(sys, T, X0)
plot(t, y)

# Test output of state vector
t, y, x = step(sys, return_x=True)
y, t, x = step(sys, return_x=True)

#Test MIMO system
A, B, C, D = MIMO_mats
sys = ss(A, B, C, D)

subplot2grid(plot_shape, (0, 2))
t, y = step(sys)
plot(t, y)
y, t = step(sys)
plot(t, y[:, 0, 0])

def test_impulse(self, SISO_mats, mplcleanup):
A, B, C, D = SISO_mats
Expand DownExpand Up@@ -168,8 +168,8 @@ def test_impulse_mimo(self, MIMO_mats, mplcleanup):
#Test MIMO system
A, B, C, D = MIMO_mats
sys = ss(A, B, C, D)
t, y = impulse(sys)
plot(t, y, label='MIMO System')
y, t = impulse(sys)
plot(t, y[:, :, 0], label='MIMO System')

legend(loc='best')
#show()
Expand Down
151 changes: 109 additions & 42 deletionscontrol/tests/timeresp_test.py
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Original file line numberDiff line numberDiff line change
Expand Up@@ -347,7 +347,7 @@ def test_impulse_response_mimo(self, mimo_ss2):
yref_notrim = np.zeros((2, len(t)))
yref_notrim[:1, :] = yref
_t, yy = impulse_response(sys, T=t, input=0)
np.testing.assert_array_almost_equal(yy, yref_notrim, decimal=4)
np.testing.assert_array_almost_equal(yy[:,0,:], yref_notrim, decimal=4)

@pytest.mark.skipif(StrictVersion(sp.__version__) < "1.3",
reason="requires SciPy 1.3 or greater")
Expand DownExpand Up@@ -639,9 +639,10 @@ def test_time_vector(self, tsystem, fun, squeeze, matarrayout):
if hasattr(tsystem, 't'):
# tout should always match t, which has shape (n, )
np.testing.assert_allclose(tout, tsystem.t)
if squeeze is False or sys.outputs > 1:

if squeeze is False or not sys.issiso():
assert yout.shape[0] == sys.outputs
assert yout.shape[1] == tout.shape[0]
assert yout.shape[-1] == tout.shape[0]
else:
assert yout.shape == tout.shape

Expand DownExpand Up@@ -725,21 +726,22 @@ def test_time_series_data_convention_2D(self, siso_ss1):

@pytest.mark.usefixtures("editsdefaults")
@pytest.mark.parametrize("fcn", [ct.ss, ct.tf, ct.ss2io])
@pytest.mark.parametrize("nstate, nout, ninp, squeeze, shape", [
[1, 1, 1, None, (8,)],
[2, 1, 1, True, (8,)],
[3, 1, 1, False, (1, 8)],
[3, 2, 1, None, (2, 8)],
[4, 2, 1, True, (2, 8)],
[5, 2, 1, False, (2, 8)],
[3, 1, 2, None, (1, 8)],
[4, 1, 2, True, (8,)],
[5, 1, 2, False, (1, 8)],
[4, 2, 2, None, (2, 8)],
[5, 2, 2, True, (2, 8)],
[6, 2, 2, False, (2, 8)],
@pytest.mark.parametrize("nstate, nout, ninp, squeeze, shape1, shape2", [
# state out in squeeze in/out out-only
[1, 1, 1, None, (8,), (8,)],
[2, 1, 1, True, (8,), (8,)],
[3, 1, 1, False, (1, 1, 8), (1, 8)],
[3, 2, 1, None, (2, 1, 8), (2, 8)],
[4, 2, 1, True, (2, 8), (2, 8)],
[5, 2, 1, False, (2, 1, 8), (2, 8)],
[3, 1, 2, None, (1, 2, 8), (1, 8)],
[4, 1, 2, True, (2, 8), (8,)],
[5, 1, 2, False, (1, 2, 8), (1, 8)],
[4, 2, 2, None, (2, 2, 8), (2, 8)],
[5, 2, 2, True, (2, 2, 8), (2, 8)],
[6, 2, 2, False, (2, 2, 8), (2, 8)],
])
def test_squeeze(self, fcn, nstate, nout, ninp, squeeze,shape):
def test_squeeze(self, fcn, nstate, nout, ninp, squeeze,shape1, shape2):
# Figure out if we have SciPy 1+
scipy0 = StrictVersion(sp.__version__) < '1.0'

Expand All@@ -750,27 +752,56 @@ def test_squeeze(self, fcn, nstate, nout, ninp, squeeze, shape):
else:
sys = fcn(ct.rss(nstate, nout, ninp, strictly_proper=True))

# Keep track of expect users warnings
warntype = UserWarning if sys.inputs > 1 else None

# Generate the time and input vectors
tvec = np.linspace(0, 1, 8)
uvec = np.dot(
np.ones((sys.inputs, 1)),
np.reshape(np.sin(tvec), (1, 8)))

#
# Pass squeeze argument and make sure the shape is correct
with pytest.warns(warntype, match="Converting MIMO system"):
_, yvec = ct.impulse_response(sys, tvec, squeeze=squeeze)
assert yvec.shape == shape
#
# For responses that are indexed by the input, check against shape1
# For responses that have no/fixed input, check against shape2
#

_, yvec = ct.initial_response(sys, tvec, 1, squeeze=squeeze)
assert yvec.shape == shape
# Impulse response
if isinstance(sys, StateSpace):
# Check the states as well
_, yvec, xvec = ct.impulse_response(
sys, tvec, squeeze=squeeze, return_x=True)
if sys.issiso():
assert xvec.shape == (sys.states, 8)
else:
assert xvec.shape == (sys.states, sys.inputs, 8)
else:
_, yvec = ct.impulse_response(sys, tvec, squeeze=squeeze)
assert yvec.shape == shape1

with pytest.warns(warntype, match="Converting MIMO system"):
# Step response
if isinstance(sys, StateSpace):
# Check the states as well
_, yvec, xvec = ct.step_response(
sys, tvec, squeeze=squeeze, return_x=True)
if sys.issiso():
assert xvec.shape == (sys.states, 8)
else:
assert xvec.shape == (sys.states, sys.inputs, 8)
else:
_, yvec = ct.step_response(sys, tvec, squeeze=squeeze)
assert yvec.shape == shape
assert yvec.shape == shape1

# Initial response (only indexed by output)
if isinstance(sys, StateSpace):
# Check the states as well
_, yvec, xvec = ct.initial_response(
sys, tvec, 1, squeeze=squeeze, return_x=True)
assert xvec.shape == (sys.states, 8)
else:
_, yvec = ct.initial_response(sys, tvec, 1, squeeze=squeeze)
assert yvec.shape == shape2

# Forced response (only indexed by output)
if isinstance(sys, StateSpace):
# Check the states as well
_, yvec, xvec = ct.forced_response(
Expand All@@ -779,52 +810,54 @@ def test_squeeze(self, fcn, nstate, nout, ninp, squeeze, shape):
else:
# Just check the input/output response
_, yvec = ct.forced_response(sys, tvec, uvec, 0, squeeze=squeeze)
assert yvec.shape ==shape
assert yvec.shape ==shape2

# Test cases where we choose a subset of inputs and outputs
_, yvec = ct.step_response(
sys, tvec, input=ninp-1, output=nout-1, squeeze=squeeze)
# Possible code if we implemenet a squeeze='siso' option
if squeeze is False:
# Shape should be unsqueezed
assert yvec.shape == (1, 8)
assert yvec.shape == (1,1,8)
else:
# Shape should be squeezed
assert yvec.shape == (8, )

# For InputOutputSystems, also testinput_output_response
# For InputOutputSystems, also testinput/output response
if isinstance(sys, ct.InputOutputSystem) and not scipy0:
_, yvec = ct.input_output_response(sys, tvec, uvec, squeeze=squeeze)
assert yvec.shape ==shape
assert yvec.shape ==shape2

#
# Changing config.default to False should return 3D frequency response
#
ct.config.set_defaults('control', squeeze_time_response=False)

with pytest.warns(warntype, match="Converting MIMO system"):
_, yvec = ct.impulse_response(sys, tvec)
assert yvec.shape == (sys.outputs, 8)
_, yvec = ct.impulse_response(sys, tvec)
if squeeze is not True or sys.inputs > 1 orsys.outputs > 1:
assert yvec.shape == (sys.outputs, sys.inputs, 8)

_, yvec = ct.initial_response(sys, tvec, 1)
assert yvec.shape == (sys.outputs, 8)
_, yvec = ct.step_response(sys, tvec)
if squeeze is not True or sys.inputs > 1 or sys.outputs > 1:
assert yvec.shape == (sys.outputs, sys.inputs, 8)

with pytest.warns(warntype, match="Converting MIMO system"):
_, yvec = ct.step_response(sys, tvec)
assert yvec.shape == (sys.outputs, 8)
_, yvec = ct.initial_response(sys, tvec, 1)
if squeeze is not True orsys.outputs > 1:
assert yvec.shape == (sys.outputs, 8)

if isinstance(sys, ct.StateSpace):
_, yvec, xvec = ct.forced_response(
sys, tvec, uvec, 0, return_x=True)
assert xvec.shape == (sys.states, 8)
else:
_, yvec = ct.forced_response(sys, tvec, uvec, 0)
assert yvec.shape == (sys.outputs, 8)
if squeeze is not True or sys.outputs > 1:
assert yvec.shape == (sys.outputs, 8)

# For InputOutputSystems, also test input_output_response
if isinstance(sys, ct.InputOutputSystem) and not scipy0:
_, yvec = ct.input_output_response(sys, tvec, uvec)
assert yvec.shape == (sys.noutputs, 8)
if squeeze is not True or sys.outputs > 1:
assert yvec.shape == (sys.outputs, 8)

@pytest.mark.parametrize("fcn", [ct.ss, ct.tf, ct.ss2io])
def test_squeeze_exception(self, fcn):
Expand DownExpand Up@@ -861,3 +894,37 @@ def test_squeeze_0_8_4(self, nstate, nout, ninp, squeeze, shape):

_, yvec = ct.initial_response(sys, tvec, 1, squeeze=squeeze)
assert yvec.shape == shape

@pytest.mark.parametrize(
"nstate, nout, ninp, squeeze, ysh_in, ysh_no, xsh_in", [
[4, 1, 1, None, (8,), (8,), (8, 4)],
[4, 1, 1, True, (8,), (8,), (8, 4)],
[4, 1, 1, False, (8, 1, 1), (8, 1), (8, 4)],
[4, 2, 1, None, (8, 2, 1), (8, 2), (8, 4, 1)],
[4, 2, 1, True, (8, 2), (8, 2), (8, 4, 1)],
[4, 2, 1, False, (8, 2, 1), (8, 2), (8, 4, 1)],
[4, 1, 2, None, (8, 1, 2), (8, 1), (8, 4, 2)],
[4, 1, 2, True, (8, 2), (8,), (8, 4, 2)],
[4, 1, 2, False, (8, 1, 2), (8, 1), (8, 4, 2)],
[4, 2, 2, None, (8, 2, 2), (8, 2), (8, 4, 2)],
[4, 2, 2, True, (8, 2, 2), (8, 2), (8, 4, 2)],
[4, 2, 2, False, (8, 2, 2), (8, 2), (8, 4, 2)],
])
def test_response_transpose(
self, nstate, nout, ninp, squeeze, ysh_in, ysh_no, xsh_in):
sys = ct.rss(nstate, nout, ninp)
T = np.linspace(0, 1, 8)

# Step response - input indexed
t, y, x = ct.step_response(
sys, T, transpose=True, return_x=True, squeeze=squeeze)
assert t.shape == (T.size, )
assert y.shape == ysh_in
assert x.shape == xsh_in

# Initial response - no input indexing
t, y, x = ct.initial_response(
sys, T, 1, transpose=True, return_x=True, squeeze=squeeze)
assert t.shape == (T.size, )
assert y.shape == ysh_no
assert x.shape == (T.size, sys.states)
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