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Added 5 test for step_info:
1) System Type 1 - Step response not stationary:  G(s)=1/s(s+1) 2) SISO system with under shoot response and positive final value G(s)=(-s+1)/(s²+s+1) 3) Same system that 2) with k=-1 4) example from matlab online help https://www.mathworks.com/help/control/ref/stepinfo.html G(s)=(s²+5s+5)/(s^4+1.65s^3+6.5s+2) with stepinfo output:         RiseTime: 3.8456     SettlingTime: 27.9762      SettlingMin: 2.0689      SettlingMax: 2.6873        Overshoot: 7.4915       Undershoot: 0             Peak: 2.6873         PeakTime: 8.0530 5) example from matlab online help https://www.mathworks.com/help/control/ref/stepinfo.html A = [0.68 -0.34; 0.34 0.68]; B = [0.18 -0.05; 0.04 0.11]; C = [0 -1.53; -1.12 -1.10]; D = [0 0; 0.06 -0.37]; sys = StateSpace(A,B,C,D,0.2); examine the response characteristics for the response from the first input to the second output of sys. with stepinfo output:         RiseTime: 0.4000     SettlingTime: 2.8000      SettlingMin: -0.6724      SettlingMax: -0.5188        Overshoot: 24.6476       Undershoot: 11.1224             Peak: 0.6724         PeakTime: 1
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‎control/tests/timeresp_test.py‎

Lines changed: 104 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -193,6 +193,35 @@ def pole_cancellation(self):
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def no_pole_cancellation(self):
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return TransferFunction([1.881e+06],
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[188.1, 1.881e+06])
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@pytest.fixture
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def siso_tf_type1(self):
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# System Type 1 - Step response not stationary: G(s)=1/s(s+1)
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return TransferFunction(1, [1, 1, 0])
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@pytest.fixture
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def siso_tf_kpos(self):
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# SISO under shoot response and positive final value G(s)=(-s+1)/(s²+s+1)
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return TransferFunction([-1, 1], [1, 1, 1])
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@pytest.fixture
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def siso_tf_kneg(self):
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# SISO under shoot response and negative final value k=-1 G(s)=-(-s+1)/(s²+s+1)
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return TransferFunction([1, -1], [1, 1, 1])
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@pytest.fixture
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def tf1_matlab_help(self):
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# example from matlab online help https://www.mathworks.com/help/control/ref/stepinfo.html
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return TransferFunction([1, 5, 5], [1, 1.65, 5, 6.5, 2])
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@pytest.fixture
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def tf2_matlab_help(self):
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A = [[0.68, - 0.34], [0.34, 0.68]]
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B = [[0.18], [0.04]]
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C = [-1.12, - 1.10]
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D = [0.06]
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sys = StateSpace(A, B, C, D, 0.2)
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return sys
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@pytest.fixture
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def tsystem(self,
@@ -202,7 +231,9 @@ def tsystem(self,
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siso_dtf0, siso_dtf1, siso_dtf2,
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siso_dss1, siso_dss2,
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mimo_dss1, mimo_dss2, mimo_dtf1,
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pole_cancellation, no_pole_cancellation):
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pole_cancellation, no_pole_cancellation, siso_tf_type1,
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siso_tf_kpos, siso_tf_kneg, tf1_matlab_help,
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tf2_matlab_help):
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systems = {"siso_ss1": siso_ss1,
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"siso_ss2": siso_ss2,
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"siso_tf1": siso_tf1,
@@ -220,6 +251,11 @@ def tsystem(self,
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"mimo_dtf1": mimo_dtf1,
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"pole_cancellation": pole_cancellation,
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"no_pole_cancellation": no_pole_cancellation,
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"siso_tf_type1": siso_tf_type1,
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"siso_tf_kpos": siso_tf_kpos,
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"siso_tf_kneg": siso_tf_kneg,
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"tf1_matlab_help": tf1_matlab_help,
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"tf2_matlab_help": tf2_matlab_help,
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}
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return systems[request.param]
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@@ -303,6 +339,73 @@ def test_step_info(self):
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[Strue[k] for k in Sktrue],
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rtol=rtol)
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# tolerance for all parameters could be wrong for some systems ej: discrete systems time parameters tolerance
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# could be +/-dt
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@pytest.mark.parametrize(
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"tsystem, info_true, tolerance",
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[("tf1_matlab_help", {
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'RiseTime': 3.8456,
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'SettlingTime': 27.9762,
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'SettlingMin': 2.0689,
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'SettlingMax': 2.6873,
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'Overshoot': 7.4915,
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'Undershoot': 0,
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'Peak': 2.6873,
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'PeakTime': 8.0530,
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'SteadyStateValue': 2.5}, 2e-2),
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("tf2_matlab_help", {
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'RiseTime': 0.4000,
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'SettlingTime': 2.8000,
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'SettlingMin': -0.6724,
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'SettlingMax': -0.5188,
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'Overshoot': 24.6476,
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'Undershoot': 11.1224,
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'Peak': 0.6724,
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'PeakTime': 1,
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'SteadyStateValue': -0.5394}, .2),
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("siso_tf_kpos", {
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'RiseTime': 1.242,
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'SettlingTime': 9.110,
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'SettlingMin': 0.950,
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'SettlingMax': 1.208,
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'Overshoot': 20.840,
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'Undershoot': 27.840,
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'Peak': 1.208,
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'PeakTime': 4.282,
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'SteadyStateValue': 1.0}, 2e-2),
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("siso_tf_kneg", {
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'RiseTime': 1.242,
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'SettlingTime': 9.110,
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'SettlingMin': -1.208,
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'SettlingMax': -0.950,
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'Overshoot': 20.840,
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'Undershoot': 27.840,
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'Peak': 1.208,
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'PeakTime': 4.282,
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'SteadyStateValue': -1.0}, 2e-2),
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("siso_tf_type1", {'RiseTime': np.NaN,
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'SettlingTime': np.NaN,
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'SettlingMin': np.NaN,
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'SettlingMax': np.NaN,
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'Overshoot': np.NaN,
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'Undershoot': np.NaN,
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'Peak': np.Inf,
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'PeakTime': np.Inf,
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'SteadyStateValue': np.NaN}, 2e-2)],
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indirect=["tsystem"])
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def test_step_info(self, tsystem, info_true, tolerance):
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""" """
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info = step_info(tsystem)
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info_true_sorted = sorted(info_true.keys())
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info_sorted = sorted(info.keys())
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assert info_sorted == info_true_sorted
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np.testing.assert_allclose([info_true[k] for k in info_true_sorted],
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[info[k] for k in info_sorted],
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rtol=tolerance)
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def test_step_pole_cancellation(self, pole_cancellation,
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no_pole_cancellation):
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# confirm that pole-zero cancellation doesn't perturb results

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