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Copy pathtimebase_test.py
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69 lines (61 loc) · 2.27 KB
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import pytest
import inspect
import numpy as np
import control as ct
@pytest.mark.parametrize(
"dt1, dt2, dt3", [
(0, 0, 0),
(0, 0.1, ValueError),
(0, None, 0),
(0, True, ValueError),
(0.1, 0, ValueError),
(0.1, 0.1, 0.1),
(0.1, None, 0.1),
(0.1, True, 0.1),
(None, 0, 0),
(None, 0.1, 0.1),
(None, None, None),
(None, True, True),
(True, 0, ValueError),
(True, 0.1, 0.1),
(True, None, True),
(True, True, True),
(0.2, None, 0.2),
(0.2, 0.1, ValueError),
])
@pytest.mark.parametrize("op", [ct.series, ct.parallel, ct.feedback])
@pytest.mark.parametrize("type", [ct.StateSpace, ct.ss, ct.tf])
def test_composition(dt1, dt2, dt3, op, type):
# Define the system
A, B, C, D = [[1, 1], [0, 1]], [[0], [1]], [[1, 0]], 0
sys1 = ct.StateSpace(A, B, C, D, dt1)
sys2 = ct.StateSpace(A, B, C, D, dt2)
# Convert to the desired form
sys1 = type(sys1)
sys2 = type(sys2)
if inspect.isclass(dt3) and issubclass(dt3, Exception):
with pytest.raises(dt3, match="incompatible timebases"):
sys3 = op(sys1, sys2)
else:
sys3 = op(sys1, sys2)
assert sys3.dt == dt3
@pytest.mark.parametrize("dt", [None, 0, 0.1])
def test_composition_override(dt):
# Define the system
A, B, C, D = [[1, 1], [0, 1]], [[0], [1]], [[1, 0]], 0
sys1 = ct.ss(A, B, C, D, None, inputs='u1', outputs='y1')
sys2 = ct.ss(A, B, C, D, None, inputs='y1', outputs='y2')
# Show that we can override the type
sys3 = ct.interconnect([sys1, sys2], inputs='u1', outputs='y2', dt=dt)
assert sys3.dt == dt
# Overriding the type with an inconsistent type generates an error
sys1 = ct.StateSpace(A, B, C, D, 0.1, inputs='u1', outputs='y1')
if dt != 0.1 and dt is not None:
with pytest.raises(ValueError, match="incompatible timebases"):
sys3 = ct.interconnect(
[sys1, sys2], inputs='u1', outputs='y2', dt=dt)
sys1 = ct.StateSpace(A, B, C, D, 0, inputs='u1', outputs='y1')
if dt != 0 and dt is not None:
with pytest.raises(ValueError, match="incompatible timebases"):
sys3 = ct.interconnect(
[sys1, sys2], inputs='u1', outputs='y2', dt=dt)