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test norm methods
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‎control/tests/sysnorm_test.py‎

Lines changed: 24 additions & 20 deletions
Original file line numberDiff line numberDiff line change
@@ -11,50 +11,54 @@
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import pytest
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1313

14-
def test_norm_1st_order_stable_system():
14+
@pytest.mark.parametrize("method", ["slycot", "scipy", None])
15+
def test_norm_1st_order_stable_system(method):
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"""First-order stable continuous-time system"""
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s = ct.tf('s')
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1819
G1 = 1/(s+1)
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assert np.allclose(ct.norm(G1, p='inf'), 1.0) # Comparison to norm computed in MATLAB
20-
assert np.allclose(ct.norm(G1, p=2), 0.707106781186547) # Comparison to norm computed in MATLAB
20+
assert np.allclose(ct.norm(G1, p='inf', method=method), 1.0) # Comparison to norm computed in MATLAB
21+
assert np.allclose(ct.norm(G1, p=2, method=method), 0.707106781186547) # Comparison to norm computed in MATLAB
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2223
Gd1 = ct.sample_system(G1, 0.1)
23-
assert np.allclose(ct.norm(Gd1, p='inf'), 1.0) # Comparison to norm computed in MATLAB
24-
assert np.allclose(ct.norm(Gd1, p=2), 0.223513699524858) # Comparison to norm computed in MATLAB
24+
assert np.allclose(ct.norm(Gd1, p='inf', method=method), 1.0) # Comparison to norm computed in MATLAB
25+
assert np.allclose(ct.norm(Gd1, p=2, method=method), 0.223513699524858) # Comparison to norm computed in MATLAB
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2627

27-
def test_norm_1st_order_unstable_system():
28+
@pytest.mark.parametrize("method", ["slycot", "scipy", None])
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def test_norm_1st_order_unstable_system(method):
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"""First-order unstable continuous-time system"""
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s = ct.tf('s')
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3133
G2 = 1/(1-s)
32-
assert np.allclose(ct.norm(G2, p='inf'), 1.0) # Comparison to norm computed in MATLAB
34+
assert np.allclose(ct.norm(G2, p='inf', method=method), 1.0) # Comparison to norm computed in MATLAB
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with pytest.warns(UserWarning, match="System is unstable!"):
34-
assert ct.norm(G2, p=2) == float('inf') # Comparison to norm computed in MATLAB
36+
assert ct.norm(G2, p=2, method=method) == float('inf') # Comparison to norm computed in MATLAB
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Gd2 = ct.sample_system(G2, 0.1)
37-
assert np.allclose(ct.norm(Gd2, p='inf'), 1.0) # Comparison to norm computed in MATLAB
39+
assert np.allclose(ct.norm(Gd2, p='inf', method=method), 1.0) # Comparison to norm computed in MATLAB
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with pytest.warns(UserWarning, match="System is unstable!"):
39-
assert ct.norm(Gd2, p=2) == float('inf') # Comparison to norm computed in MATLAB
41+
assert ct.norm(Gd2, p=2, method=method) == float('inf') # Comparison to norm computed in MATLAB
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41-
def test_norm_2nd_order_system_imag_poles():
43+
@pytest.mark.parametrize("method", ["slycot", "scipy", None])
44+
def test_norm_2nd_order_system_imag_poles(method):
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"""Second-order continuous-time system with poles on imaginary axis"""
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s = ct.tf('s')
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G3 = 1/(s**2+1)
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with pytest.warns(UserWarning, match="Poles close to, or on, the imaginary axis."):
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assert ct.norm(G3, p='inf') == float('inf') # Comparison to norm computed in MATLAB
50+
assert ct.norm(G3, p='inf', method=method) == float('inf') # Comparison to norm computed in MATLAB
4851
with pytest.warns(UserWarning, match="Poles close to, or on, the imaginary axis."):
49-
assert ct.norm(G3, p=2) == float('inf') # Comparison to norm computed in MATLAB
52+
assert ct.norm(G3, p=2, method=method) == float('inf') # Comparison to norm computed in MATLAB
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Gd3 = ct.sample_system(G3, 0.1)
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with pytest.warns(UserWarning, match="Poles close to, or on, the complex unit circle."):
53-
assert ct.norm(Gd3, p='inf') == float('inf') # Comparison to norm computed in MATLAB
56+
assert ct.norm(Gd3, p='inf', method=method) == float('inf') # Comparison to norm computed in MATLAB
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with pytest.warns(UserWarning, match="Poles close to, or on, the complex unit circle."):
55-
assert ct.norm(Gd3, p=2) == float('inf') # Comparison to norm computed in MATLAB
58+
assert ct.norm(Gd3, p=2, method=method) == float('inf') # Comparison to norm computed in MATLAB
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57-
def test_norm_3rd_order_mimo_system():
60+
@pytest.mark.parametrize("method", ["slycot", "scipy", None])
61+
def test_norm_3rd_order_mimo_system(method):
5862
"""Third-order stable MIMO continuous-time system"""
5963
A = np.array([[-1.017041847539126, -0.224182952826418, 0.042538079149249],
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[-0.310374015319095, -0.516461581407780, -0.119195790221750],
@@ -66,9 +70,9 @@ def test_norm_3rd_order_mimo_system():
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[-0.863652821988714, -1.214117043615409, -0.006849328103348]])
6771
D = np.zeros((2,2))
6872
G4 = ct.ss(A,B,C,D) # Random system generated in MATLAB
69-
assert np.allclose(ct.norm(G4, p='inf'), 4.276759162964244) # Comparison to norm computed in MATLAB
70-
assert np.allclose(ct.norm(G4, p=2), 2.237461821810309) # Comparison to norm computed in MATLAB
73+
assert np.allclose(ct.norm(G4, p='inf', method=method), 4.276759162964244) # Comparison to norm computed in MATLAB
74+
assert np.allclose(ct.norm(G4, p=2, method=method), 2.237461821810309) # Comparison to norm computed in MATLAB
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7276
Gd4 = ct.sample_system(G4, 0.1)
73-
assert np.allclose(ct.norm(Gd4, p='inf'), 4.276759162964228) # Comparison to norm computed in MATLAB
74-
assert np.allclose(ct.norm(Gd4, p=2), 0.707434962289554) # Comparison to norm computed in MATLAB
77+
assert np.allclose(ct.norm(Gd4, p='inf', method=method), 4.276759162964228) # Comparison to norm computed in MATLAB
78+
assert np.allclose(ct.norm(Gd4, p=2, method=method), 0.707434962289554) # Comparison to norm computed in MATLAB

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