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"""namedio_test.py - test named input/output object operations
RMM, 13 Mar 2022
This test suite checks to make sure that (named) input/output class
operations are working. It doesn't do exhaustive testing of
operations on input/output objects. Separate unit tests should be
created for that purpose.
"""
from copy import copy
import warnings
import numpy as np
import control as ct
import pytest
def test_named_ss():
# Create a system to play with
sys = ct.rss(2, 2, 2)
assert sys.input_labels == ['u[0]', 'u[1]']
assert sys.output_labels == ['y[0]', 'y[1]']
assert sys.state_labels == ['x[0]', 'x[1]']
# Get the state matrices for later use
A, B, C, D = sys.A, sys.B, sys.C, sys.D
# Set up a named state space systems with default names
ct.InputOutputSystem._idCounter = 0
sys = ct.ss(A, B, C, D)
assert sys.name == 'sys[0]'
assert sys.input_labels == ['u[0]', 'u[1]']
assert sys.output_labels == ['y[0]', 'y[1]']
assert sys.state_labels == ['x[0]', 'x[1]']
assert ct.iosys_repr(sys, format='info') == \
"<StateSpace sys[0]: ['u[0]', 'u[1]'] -> ['y[0]', 'y[1]']>"
# Pass the names as arguments
sys = ct.ss(
A, B, C, D, name='system',
inputs=['u1', 'u2'], outputs=['y1', 'y2'], states=['x1', 'x2'])
assert sys.name == 'system'
assert ct.InputOutputSystem._idCounter == 1
assert sys.input_labels == ['u1', 'u2']
assert sys.output_labels == ['y1', 'y2']
assert sys.state_labels == ['x1', 'x2']
assert ct.iosys_repr(sys, format='info') == \
"<StateSpace system: ['u1', 'u2'] -> ['y1', 'y2']>"
# Do the same with rss
sys = ct.rss(['x1', 'x2', 'x3'], ['y1', 'y2'], 'u1', name='random')
assert sys.name == 'random'
assert ct.InputOutputSystem._idCounter == 1
assert sys.input_labels == ['u1']
assert sys.output_labels == ['y1', 'y2']
assert sys.state_labels == ['x1', 'x2', 'x3']
assert ct.iosys_repr(sys, format='info') == \
"<StateSpace random: ['u1'] -> ['y1', 'y2']>"
# List of classes that are expected
fun_instance = {
ct.rss: (ct.NonlinearIOSystem, ct.StateSpace, ct.StateSpace),
ct.drss: (ct.NonlinearIOSystem, ct.StateSpace, ct.StateSpace),
ct.FRD: (ct.lti.LTI),
ct.NonlinearIOSystem: (ct.InputOutputSystem),
ct.ss: (ct.NonlinearIOSystem, ct.StateSpace, ct.StateSpace),
ct.StateSpace: (ct.StateSpace),
ct.tf: (ct.TransferFunction),
ct.TransferFunction: (ct.TransferFunction),
}
# List of classes that are not expected
fun_notinstance = {
ct.FRD: (ct.NonlinearIOSystem, ct.StateSpace),
ct.StateSpace: (ct.TransferFunction, ct.FRD),
ct.TransferFunction: (ct.NonlinearIOSystem, ct.StateSpace, ct.FRD),
}
def p(*args):
# convenience for parametrize below
return pytest.param(*args, marks=pytest.mark.slycot)
@pytest.mark.parametrize("fun, args, kwargs", [
p(ct.rss, (4, 1, 1), {}),
p(ct.rss, (3, 2, 1), {}),
p(ct.drss, (4, 1, 1), {}),
p(ct.drss, (3, 2, 1), {}),
[ct.FRD, ([1, 2, 3,], [1, 2, 3]), {}],
[ct.NonlinearIOSystem,
(lambda t, x, u, params: -x, None),
{'inputs': 2, 'outputs':2, 'states':2}],
p(ct.ss, ([[1, 2], [3, 4]], [[0], [1]], [[1, 0]], 0), {}),
p(ct.ss, ([], [], [], 3), {}), # static system
p(ct.StateSpace, ([[1, 2], [3, 4]], [[0], [1]], [[1, 0]], 0), {}),
p(ct.tf, ([1, 2], [3, 4, 5]), {}),
p(ct.tf, (2, 3), {}), # static system
p(ct.TransferFunction, ([1, 2], [3, 4, 5]), {}),
])
def test_io_naming(fun, args, kwargs):
# Reset the ID counter to get uniform generic names
ct.InputOutputSystem._idCounter = 0
# Create the system w/out any names
sys_g = fun(*args, **kwargs)
# Make sure the class are what we expect
if fun in fun_instance:
assert isinstance(sys_g, fun_instance[fun])
if fun in fun_notinstance:
assert not isinstance(sys_g, fun_notinstance[fun])
# Make sure the names make sense
assert sys_g.name == 'sys[0]'
assert sys_g.input_labels == [f'u[{i}]' for i in range(sys_g.ninputs)]
assert sys_g.output_labels == [f'y[{i}]' for i in range(sys_g.noutputs)]
if sys_g.nstates is not None:
assert sys_g.state_labels == [f'x[{i}]' for i in range(sys_g.nstates)]
#
# Reset the names to something else and make sure they stick
#
sys_r = copy(sys_g)
input_labels = [f'u{i}' for i in range(sys_g.ninputs)]
sys_r.set_inputs(input_labels)
assert sys_r.input_labels == input_labels
output_labels = [f'y{i}' for i in range(sys_g.noutputs)]
sys_r.set_outputs(output_labels)
assert sys_r.output_labels == output_labels
if sys_g.nstates is not None:
state_labels = [f'x{i}' for i in range(sys_g.nstates)]
sys_r.set_states(state_labels)
assert sys_r.state_labels == state_labels
sys_r.name = 'sys' # make sure name is non-generic
#
# Set names using keywords and make sure they stick
#
# How the keywords are used depends on the type of system
if fun in (ct.rss, ct.drss):
# Pass the labels instead of the numbers
sys_k = fun(state_labels, output_labels, input_labels, name='mysys')
elif sys_g.nstates is None:
# Don't pass state labels if TransferFunction
sys_k = fun(
*args, inputs=input_labels, outputs=output_labels, name='mysys')
else:
sys_k = fun(
*args, inputs=input_labels, outputs=output_labels,
states=state_labels, name='mysys')
assert sys_k.name == 'mysys'
assert sys_k.input_labels == input_labels
assert sys_k.output_labels == output_labels
if sys_g.nstates is not None:
assert sys_k.state_labels == state_labels
#
# Convert the system to state space and make sure labels transfer
#
if not isinstance(sys_r,
(ct.FrequencyResponseData, ct.NonlinearIOSystem)):
sys_ss = ct.ss(sys_r)
assert sys_ss != sys_r
assert sys_ss.input_labels == input_labels
assert sys_ss.output_labels == output_labels
if not isinstance(sys_r, ct.StateSpace):
# System should get unique name
assert sys_ss.name != sys_r.name
# Reassign system and signal names
sys_ss = ct.ss(
sys_g, inputs=input_labels, outputs=output_labels, name='new')
assert sys_ss.name == 'new'
assert sys_ss.input_labels == input_labels
assert sys_ss.output_labels == output_labels
#
# Convert the system to a transfer function and make sure labels transfer
#
if not isinstance(sys_r,
(ct.FrequencyResponseData, ct.NonlinearIOSystem)):
sys_tf = ct.tf(sys_r)
assert sys_tf != sys_r
assert sys_tf.input_labels == input_labels
assert sys_tf.output_labels == output_labels
# Reassign system and signal names
sys_tf = ct.tf(
sys_g, inputs=input_labels, outputs=output_labels, name='new')
assert sys_tf.name == 'new'
assert sys_tf.input_labels == input_labels
assert sys_tf.output_labels == output_labels
#
# Convert the system to a StateSpace and make sure labels transfer
#
if not isinstance(sys_r,
(ct.FrequencyResponseData, ct.NonlinearIOSystem)):
sys_lio = ct.ss(sys_r)
assert sys_lio != sys_r
assert sys_lio.input_labels == input_labels
assert sys_lio.output_labels == output_labels
# Reassign system and signal names
sys_lio = ct.ss(
sys_g, inputs=input_labels, outputs=output_labels, name='new')
assert sys_lio.name == 'new'
assert sys_lio.input_labels == input_labels
assert sys_lio.output_labels == output_labels
# Internal testing of StateSpace initialization
def test_init_namedif():
# Set up the initial system
sys = ct.rss(2, 1, 1)
# Rename the system, inputs, and outouts
sys_new = sys.copy()
ct.StateSpace.__init__(
sys_new, sys, inputs='u', outputs='y', name='new')
assert sys_new.name == 'new'
assert sys_new.input_labels == ['u']
assert sys_new.output_labels == ['y']
# Make sure that passing an unrecognized keyword generates an error
with pytest.raises(TypeError, match="unrecognized keyword"):
ct.StateSpace.__init__(
sys_new, sys, inputs='u', outputs='y', init_iosys=False)
# Test state space conversion
def test_convert_to_statespace():
# Set up the initial systems
sys = ct.tf(ct.rss(2, 1, 1), inputs='u', outputs='y', name='sys')
sys_static = ct.tf(1, 2, inputs='u', outputs='y', name='sys_static')
# check that name, inputs, and outputs passed through
sys_new = ct.ss(sys)
assert sys_new.name == 'sys$converted'
assert sys_new.input_labels == ['u']
assert sys_new.output_labels == ['y']
sys_new = ct.ss(sys_static)
assert sys_new.name == 'sys_static$converted'
assert sys_new.input_labels == ['u']
assert sys_new.output_labels == ['y']
# Make sure we can rename system name, inputs, outputs
sys_new = ct.ss(sys, inputs='u', outputs='y', name='new')
assert sys_new.name == 'new'
assert sys_new.input_labels == ['u']
assert sys_new.output_labels == ['y']
sys_new = ct.ss(sys_static, inputs='u', outputs='y', name='new')
assert sys_new.name == 'new'
assert sys_new.input_labels == ['u']
assert sys_new.output_labels == ['y']
# Try specifying the state names (via low level test)
with pytest.warns(UserWarning, match="non-unique state space realization"):
sys_new = ct.ss(sys, inputs='u', outputs='y', states=['x1', 'x2'])
assert sys_new.input_labels == ['u']
assert sys_new.output_labels == ['y']
assert sys_new.state_labels == ['x1', 'x2']
# Duplicate name warnings
def test_duplicate_sysname():
# Start with an unnamed (nonlinear) system
sys = ct.rss(4, 1, 1)
sys = ct.NonlinearIOSystem(
sys.updfcn, sys.outfcn, inputs=sys.ninputs, outputs=sys.noutputs,
states=sys.nstates)
# No warnings should be generated if we reuse an an unnamed system
with warnings.catch_warnings():
warnings.simplefilter("error")
# strip out matrix warnings
warnings.filterwarnings("ignore", "the matrix subclass",
category=PendingDeprecationWarning)
sys * sys
# Generate a warning if the system is named
sys = ct.rss(4, 1, 1)
sys = ct.NonlinearIOSystem(
sys.updfcn, sys.outfcn, inputs=sys.ninputs, outputs=sys.noutputs,
states=sys.nstates, name='sys')
with pytest.warns(UserWarning, match="duplicate object found"):
sys * sys
# Finding signals
def test_find_signals():
sys = ct.rss(
states=['x[1]', 'x[2]', 'x[3]', 'x[4]', 'x4', 'x5'],
inputs=['u[0]', 'u[1]', 'u[2]', 'v[0]', 'v[1]'],
outputs=['y[0]', 'y[1]', 'y[2]', 'z[0]', 'z1'],
name='sys')
# States
assert sys.find_states('x[1]') == [0]
assert sys.find_states('x') == [0, 1, 2, 3]
assert sys.find_states('x4') == [4]
assert sys.find_states(['x4', 'x5']) == [4, 5]
assert sys.find_states(['x', 'x5']) == [0, 1, 2, 3, 5]
assert sys.find_states(['x[2:]']) == [1, 2, 3]
# Inputs
assert sys.find_inputs('u[1]') == [1]
assert sys.find_inputs('u') == [0, 1, 2]
assert sys.find_inputs('v') == [3, 4]
assert sys.find_inputs(['u', 'v']) == [0, 1, 2, 3, 4]
assert sys.find_inputs(['u[1:]', 'v']) == [1, 2, 3, 4]
assert sys.find_inputs(['u', 'v[:1]']) == [0, 1, 2, 3]
# Outputs
assert sys.find_outputs('y[1]') == [1]
assert sys.find_outputs('y') == [0, 1, 2]
assert sys.find_outputs('z') == [3]
assert sys.find_outputs(['y', 'z']) == [0, 1, 2, 3]
assert sys.find_outputs(['y[1:]', 'z']) == [1, 2, 3]
assert sys.find_outputs(['y', 'z[:1]']) == [0, 1, 2, 3]
# Invalid signal names
def test_invalid_signal_names():
with pytest.raises(ValueError, match="invalid signal name"):
ct.rss(4, inputs="input.signal", outputs=1)
with pytest.raises(ValueError, match="invalid system name"):
ct.rss(4, inputs=1, outputs=1, name="system.subsys")
# Negative system spect
def test_negative_system_spec():
sys1 = ct.rss(2, 1, 1, strictly_proper=True, name='sys1')
sys2 = ct.rss(2, 1, 1, strictly_proper=True, name='sys2')
# Negative feedback via explicit signal specification
negfbk_negsig = ct.interconnect(
[sys1, sys2], inplist=('sys1', 'u[0]'), outlist=('sys2', 'y[0]'),
connections=[
[('sys2', 'u[0]'), ('sys1', 'y[0]')],
[('sys1', 'u[0]'), ('sys2', '-y[0]')]
])
# Negative feedback via system specs
negfbk_negsys = ct.interconnect(
[sys1, sys2], inplist=['sys1'], outlist=['sys2'],
connections=[
['sys2', 'sys1'],
['sys1', '-sys2'],
])
np.testing.assert_allclose(negfbk_negsig.A, negfbk_negsys.A)
np.testing.assert_allclose(negfbk_negsig.B, negfbk_negsys.B)
np.testing.assert_allclose(negfbk_negsig.C, negfbk_negsys.C)
np.testing.assert_allclose(negfbk_negsig.D, negfbk_negsys.D)
# Named signal representations
def test_named_signal_repr():
sys = ct.rss(
states=2, inputs=['u1', 'u2'], outputs=['y1', 'y2'],
state_prefix='xi')
resp = sys.step_response(np.linspace(0, 1, 3))
for signal in ['inputs', 'outputs', 'states']:
sig_orig = getattr(resp, signal)
sig_eval = eval(repr(sig_orig),
None,
{'array': np.array,
'NamedSignal': ct.NamedSignal})
assert sig_eval.signal_labels == sig_orig.signal_labels
assert sig_eval.trace_labels == sig_orig.trace_labels