Aug 25, 2022 · Aug 25, 2022 · Aug 25, 2022
diff --git a/control/tests/matlab_test.py b/control/tests/matlab_test.py
        np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
        np.testing.assert_array_almost_equal(tout, t)

    @slycotonly
    def testStep_mimo(self, mimo):
        """Test step for MIMO system"""
        sys = mimo.ss1
            np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
            np.testing.assert_array_almost_equal(tout, t)

    @slycotonly
    def testImpulse_mimo(self, mimo):
        """Test impulse() for MIMO system"""
        t = np.linspace(0, 1, 10)
        np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
        np.testing.assert_array_almost_equal(tout, t)

    @slycotonly
    def testInitial_mimo(self, mimo):
        """Test initial() for MIMO system"""
        t = np.linspace(0, 1, 10)
        yout, _t, _xout = lsim(siso.ss1, u, t, x0)
        np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)

    @slycotonly
    def testLsim_mimo(self, mimo):
        """Test lsim() for MIMO system.

        yout, _t, _xout = lsim(mimo.ss1, u, t, x0)
        np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)

    def test_lsim_mimo_dtime(self):
        # https://github.com/python-control/python-control/issues/764
        time = np.linspace(0.0, 511.0e-6, 512)
        DAC = np.sin(time)
        ADC = np.cos(time)

        input_Kalman = np.transpose(
            np.concatenate(([[DAC]], [[ADC]]), axis=1)[0])
        Af = [[0.45768416, -0.42025511], [-0.43354791, 0.51961178]]
        Bf = [[2.84368641, 52.05922305], [-1.47286557, -19.94861943]]
        Cf = [[1.0, 0.0], [0.0, 1.0]]
        Df = [[0.0, 0.0], [0.0, 0.0]]

        ss_Kalman = ss(Af, Bf, Cf, Df, 1.0e-6)
        y_est, t, x_est = lsim(ss_Kalman, input_Kalman, time)
        assert y_est.shape == (time.size, ss_Kalman.ninputs)
        assert t.shape == (time.size, )
        assert x_est.shape == (time.size, ss_Kalman.nstates)

    def testMargin(self, siso):
        """Test margin()"""
        #! TODO: check results to make sure they are OK
        for i in range(len(ssdata_1)):
            np.testing.assert_array_almost_equal(ssdata_1[i], ssdata_2[i])

    @slycotonly
    def testMIMOssdata(self, mimo):
        """Test ssdata() MIMO"""
        m = (mimo.ss1.A, mimo.ss1.B, mimo.ss1.C, mimo.ss1.D)
diff --git a/control/tests/timeresp_test.py b/control/tests/timeresp_test.py
        """Test invalid parameters dtime with sys.dt > 0."""
        with pytest.raises(ValueError, match="can't both be zero"):
            forced_response(tsystem.sys)
        with pytest.raises(ValueError, match="must have same elements"):
        with pytest.raises(ValueError, match="Parameter ``U``: Wrong shape"):
            forced_response(tsystem.sys,
                            T=tsystem.t, U=np.random.randn(1, 12))
        with pytest.raises(ValueError, match="must have same elements"):
        with pytest.raises(ValueError, match="Parameter ``U``: Wrong shape"):
            forced_response(tsystem.sys,
                            T=tsystem.t, U=np.random.randn(12))
        with pytest.raises(ValueError, match="must match sampling time"):
diff --git a/control/timeresp.py b/control/timeresp.py
            dt = 1. if sys.dt in [True, None] else sys.dt
            T = np.array(range(n_steps)) * dt
        else:
            # Make sure the input vector and time vector have same length
            if (U.ndim == 1 and U.shape[0] != T.shape[0]) or \
                    (U.ndim > 1 and U.shape[1] != T.shape[0]):
                raise ValueError('Parameter ``T`` must have same elements as'
                                 ' the number of columns in input array ``U``')
            if U.ndim == 0:
                U = np.full((n_inputs, T.shape[0]), U)
    else:
Original file line number	Diff line number	Diff line change
Expand Up		@@ -208,7 +208,6 @@ def testStep(self, siso):
		np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
		np.testing.assert_array_almost_equal(tout, t)

		@slycotonly
		def testStep_mimo(self, mimo):
		"""Test step for MIMO system"""
		sys = mimo.ss1
Expand DownExpand Up		@@ -267,7 +266,6 @@ def testImpulse(self, siso):
		np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
		np.testing.assert_array_almost_equal(tout, t)

		@slycotonly
		def testImpulse_mimo(self, mimo):
		"""Test impulse() for MIMO system"""
		t = np.linspace(0, 1, 10)
Expand DownExpand Up		@@ -296,7 +294,6 @@ def testInitial(self, siso):
		np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
		np.testing.assert_array_almost_equal(tout, t)

		@slycotonly
		def testInitial_mimo(self, mimo):
		"""Test initial() for MIMO system"""
		t = np.linspace(0, 1, 10)
Expand DownExpand Up		@@ -333,7 +330,6 @@ def testLsim(self, siso):
		yout, _t, _xout = lsim(siso.ss1, u, t, x0)
		np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)

		@slycotonly
		def testLsim_mimo(self, mimo):
		"""Test lsim() for MIMO system.

Expand All		@@ -352,6 +348,25 @@ def testLsim_mimo(self, mimo):
		yout, _t, _xout = lsim(mimo.ss1, u, t, x0)
		np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)

		def test_lsim_mimo_dtime(self):
		# https://github.com/python-control/python-control/issues/764
		time = np.linspace(0.0, 511.0e-6, 512)
		DAC = np.sin(time)
		ADC = np.cos(time)

		input_Kalman = np.transpose(
		np.concatenate(([[DAC]], [[ADC]]), axis=1)[0])
		Af = [[0.45768416, -0.42025511], [-0.43354791, 0.51961178]]
		Bf = [[2.84368641, 52.05922305], [-1.47286557, -19.94861943]]
		Cf = [[1.0, 0.0], [0.0, 1.0]]
		Df = [[0.0, 0.0], [0.0, 0.0]]

		ss_Kalman = ss(Af, Bf, Cf, Df, 1.0e-6)
		y_est, t, x_est = lsim(ss_Kalman, input_Kalman, time)
		assert y_est.shape == (time.size, ss_Kalman.ninputs)
		assert t.shape == (time.size, )
		assert x_est.shape == (time.size, ss_Kalman.nstates)

		def testMargin(self, siso):
		"""Test margin()"""
		#! TODO: check results to make sure they are OK
Expand DownExpand Up		@@ -582,7 +597,6 @@ def testSISOssdata(self, siso):
		for i in range(len(ssdata_1)):
		np.testing.assert_array_almost_equal(ssdata_1[i], ssdata_2[i])

		@slycotonly
		def testMIMOssdata(self, mimo):
		"""Test ssdata() MIMO"""
		m = (mimo.ss1.A, mimo.ss1.B, mimo.ss1.C, mimo.ss1.D)
Expand Down
Original file line number	Diff line number	Diff line change
Expand Up		@@ -698,10 +698,10 @@ def test_forced_response_invalid_d(self, tsystem):
		"""Test invalid parameters dtime with sys.dt > 0."""
		with pytest.raises(ValueError, match="can't both be zero"):
		forced_response(tsystem.sys)
		with pytest.raises(ValueError, match="must have same elements"):
		with pytest.raises(ValueError, match="Parameter ``U``: Wrong shape"):
		forced_response(tsystem.sys,
		T=tsystem.t, U=np.random.randn(1, 12))
		with pytest.raises(ValueError, match="must have same elements"):
		with pytest.raises(ValueError, match="Parameter ``U``: Wrong shape"):
		forced_response(tsystem.sys,
		T=tsystem.t, U=np.random.randn(12))
		with pytest.raises(ValueError, match="must match sampling time"):
Expand Down
Original file line number	Diff line number	Diff line change
Expand Up		@@ -972,11 +972,6 @@ def forced_response(sys, T=None, U=0., X0=0., transpose=False,
		dt = 1. if sys.dt in [True, None] else sys.dt
		T = np.array(range(n_steps)) * dt
		else:
		# Make sure the input vector and time vector have same length
		if (U.ndim == 1 and U.shape[0] != T.shape[0]) or \
		(U.ndim > 1 and U.shape[1] != T.shape[0]):
		raise ValueError('Parameter ``T`` must have same elements as'
		' the number of columns in input array ``U``')
		if U.ndim == 0:
		U = np.full((n_inputs, T.shape[0]), U)
		else:
Expand Down