forked from python-control/python-control
-
Notifications
You must be signed in to change notification settings - Fork 0
Expand file tree
/
Copy pathmodelsimp_test.py
More file actions
138 lines (126 loc) · 5.66 KB
/
Copy pathmodelsimp_test.py
File metadata and controls
138 lines (126 loc) · 5.66 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
#!/usr/bin/env python
#
# modelsimp_test.py - test model reduction functions
# RMM, 30 Mar 2011 (based on TestModelSimp from v0.4a)
import unittest
import numpy as np
from control.modelsimp import *
from control.matlab import *
from control.exception import slycot_check
class TestModelsimp(unittest.TestCase):
@unittest.skipIf(not slycot_check(), "slycot not installed")
def testHSVD(self):
A = np.matrix("1. -2.; 3. -4.")
B = np.matrix("5.; 7.")
C = np.matrix("6. 8.")
D = np.matrix("9.")
sys = ss(A,B,C,D)
hsv = hsvd(sys)
hsvtrue = np.matrix("24.42686 0.5731395") # from MATLAB
np.testing.assert_array_almost_equal(hsv, hsvtrue)
def testMarkov(self):
U = np.matrix("1.; 1.; 1.; 1.; 1.")
Y = U
M = 3
H = markov(Y,U,M)
Htrue = np.matrix("1.; 0.; 0.")
np.testing.assert_array_almost_equal( H, Htrue )
def testModredMatchDC(self):
#balanced realization computed in matlab for the transfer function:
# num = [1 11 45 32], den = [1 15 60 200 60]
A = np.matrix('-1.958, -1.194, 1.824, -1.464; \
-1.194, -0.8344, 2.563, -1.351; \
-1.824, -2.563, -1.124, 2.704; \
-1.464, -1.351, -2.704, -11.08')
B = np.matrix('-0.9057; -0.4068; -0.3263; -0.3474')
C = np.matrix('-0.9057, -0.4068, 0.3263, -0.3474')
D = np.matrix('0.')
sys = ss(A,B,C,D)
rsys = modred(sys,[2, 3],'matchdc')
Artrue = np.matrix('-4.431, -4.552; -4.552, -5.361')
Brtrue = np.matrix('-1.362; -1.031')
Crtrue = np.matrix('-1.362, -1.031')
Drtrue = np.matrix('-0.08384')
np.testing.assert_array_almost_equal(rsys.A, Artrue,decimal=3)
np.testing.assert_array_almost_equal(rsys.B, Brtrue,decimal=3)
np.testing.assert_array_almost_equal(rsys.C, Crtrue,decimal=3)
np.testing.assert_array_almost_equal(rsys.D, Drtrue,decimal=2)
def testModredUnstable(self):
# Check if an error is thrown when an unstable system is given
A = np.matrix('4.5418, 3.3999, 5.0342, 4.3808; \
0.3890, 0.3599, 0.4195, 0.1760; \
-4.2117, -3.2395, -4.6760, -4.2180; \
0.0052, 0.0429, 0.0155, 0.2743')
B = np.matrix('1.0, 1.0; 2.0, 2.0; 3.0, 3.0; 4.0, 4.0')
C = np.matrix('1.0, 2.0, 3.0, 4.0; 1.0, 2.0, 3.0, 4.0')
D = np.matrix('0.0, 0.0; 0.0, 0.0')
sys = ss(A,B,C,D)
np.testing.assert_raises(ValueError, modred, sys, [2, 3])
def testModredTruncate(self):
#balanced realization computed in matlab for the transfer function:
# num = [1 11 45 32], den = [1 15 60 200 60]
A = np.matrix('-1.958, -1.194, 1.824, -1.464; \
-1.194, -0.8344, 2.563, -1.351; \
-1.824, -2.563, -1.124, 2.704; \
-1.464, -1.351, -2.704, -11.08')
B = np.matrix('-0.9057; -0.4068; -0.3263; -0.3474')
C = np.matrix('-0.9057, -0.4068, 0.3263, -0.3474')
D = np.matrix('0.')
sys = ss(A,B,C,D)
rsys = modred(sys,[2, 3],'truncate')
Artrue = np.matrix('-1.958, -1.194; -1.194, -0.8344')
Brtrue = np.matrix('-0.9057; -0.4068')
Crtrue = np.matrix('-0.9057, -0.4068')
Drtrue = np.matrix('0.')
np.testing.assert_array_almost_equal(rsys.A, Artrue)
np.testing.assert_array_almost_equal(rsys.B, Brtrue)
np.testing.assert_array_almost_equal(rsys.C, Crtrue)
np.testing.assert_array_almost_equal(rsys.D, Drtrue)
@unittest.skipIf(not slycot_check(), "slycot not installed")
def testBalredTruncate(self):
#controlable canonical realization computed in matlab for the transfer function:
# num = [1 11 45 32], den = [1 15 60 200 60]
A = np.matrix('-15., -7.5, -6.25, -1.875; \
8., 0., 0., 0.; \
0., 4., 0., 0.; \
0., 0., 1., 0.')
B = np.matrix('2.; 0.; 0.; 0.')
C = np.matrix('0.5, 0.6875, 0.7031, 0.5')
D = np.matrix('0.')
sys = ss(A,B,C,D)
orders = 2
rsys = balred(sys,orders,method='truncate')
Artrue = np.matrix('-1.958, -1.194; -1.194, -0.8344')
Brtrue = np.matrix('0.9057; 0.4068')
Crtrue = np.matrix('0.9057, 0.4068')
Drtrue = np.matrix('0.')
np.testing.assert_array_almost_equal(rsys.A, Artrue,decimal=2)
np.testing.assert_array_almost_equal(rsys.B, Brtrue,decimal=4)
np.testing.assert_array_almost_equal(rsys.C, Crtrue,decimal=4)
np.testing.assert_array_almost_equal(rsys.D, Drtrue,decimal=4)
@unittest.skipIf(not slycot_check(), "slycot not installed")
def testBalredMatchDC(self):
#controlable canonical realization computed in matlab for the transfer function:
# num = [1 11 45 32], den = [1 15 60 200 60]
A = np.matrix('-15., -7.5, -6.25, -1.875; \
8., 0., 0., 0.; \
0., 4., 0., 0.; \
0., 0., 1., 0.')
B = np.matrix('2.; 0.; 0.; 0.')
C = np.matrix('0.5, 0.6875, 0.7031, 0.5')
D = np.matrix('0.')
sys = ss(A,B,C,D)
orders = 2
rsys = balred(sys,orders,method='matchdc')
Artrue = np.matrix('-4.43094773, -4.55232904; -4.55232904, -5.36195206')
Brtrue = np.matrix('1.36235673; 1.03114388')
Crtrue = np.matrix('1.36235673, 1.03114388')
Drtrue = np.matrix('-0.08383902')
np.testing.assert_array_almost_equal(rsys.A, Artrue,decimal=2)
np.testing.assert_array_almost_equal(rsys.B, Brtrue,decimal=4)
np.testing.assert_array_almost_equal(rsys.C, Crtrue,decimal=4)
np.testing.assert_array_almost_equal(rsys.D, Drtrue,decimal=4)
def suite():
return unittest.TestLoader().loadTestsFromTestCase(TestModelsimp)
if __name__ == '__main__':
unittest.main()