Add MIMO-SISO truediv and rtruediv

sdahdah · sdahdah · commit bbf605d89434 · 2024-12-19T11:08:07.000-05:00
diff --git a/control/frdata.py b/control/frdata.py
@@ -510,11 +510,9 @@ def __truediv__(self, other):
         else:
             other = _convert_to_frd(other, omega=self.omega)
 
-        if (self.ninputs > 1 or self.noutputs > 1 or
-            other.ninputs > 1 or other.noutputs > 1):
-            raise NotImplementedError(
-                "FRD.__truediv__ is currently only implemented for SISO "
-                "systems.")
+        if (other.ninputs > 1 or other.noutputs > 1):
+            # FRD.__truediv__ is currently only implemented for SISO systems
+            return NotImplemented
 
         return FRD(self.fresp/other.fresp, self.omega,
                    smooth=(self.ifunc is not None) and
@@ -529,11 +527,9 @@ def __rtruediv__(self, other):
         else:
             other = _convert_to_frd(other, omega=self.omega)
 
-        if (self.ninputs > 1 or self.noutputs > 1 or
-            other.ninputs > 1 or other.noutputs > 1):
-            raise NotImplementedError(
-                "FRD.__rtruediv__ is currently only implemented for "
-                "SISO systems.")
+        if (self.ninputs > 1 or self.noutputs > 1):
+            # FRD.__rtruediv__ is currently only implemented for SISO systems
+            return NotImplemented
 
         return other / self
 
diff --git a/control/tests/frd_test.py b/control/tests/frd_test.py
@@ -565,6 +565,57 @@ def test_mul_mimo_siso(self, left, right, expected):
         np.testing.assert_array_almost_equal(expected_frd.omega, result.omega)
         np.testing.assert_array_almost_equal(expected_frd.fresp, result.fresp)
 
+    def test_truediv_mimo_siso(self):
+        omega = np.logspace(-1, 1, 10)
+        tf_mimo = TransferFunction([1], [1, 0]) * np.eye(2)
+        frd_mimo = frd(tf_mimo, omega)
+        ss_mimo = ct.tf2ss(tf_mimo)
+        tf_siso = TransferFunction([1], [1, 1])
+        frd_siso = frd(tf_siso, omega)
+        expected = frd(tf_mimo.__truediv__(tf_siso), omega)
+        ss_siso = ct.tf2ss(tf_siso)
+
+        # Test division of MIMO FRD by SISO FRD
+        result = frd_mimo.__truediv__(frd_siso)
+        np.testing.assert_array_almost_equal(expected.omega, result.omega)
+        np.testing.assert_array_almost_equal(expected.fresp, result.fresp)
+
+        # Test division of MIMO FRD by SISO TF
+        result = frd_mimo.__truediv__(tf_siso)
+        np.testing.assert_array_almost_equal(expected.omega, result.omega)
+        np.testing.assert_array_almost_equal(expected.fresp, result.fresp)
+
+        # Test division of MIMO FRD by SISO TF
+        result = frd_mimo.__truediv__(ss_siso)
+        np.testing.assert_array_almost_equal(expected.omega, result.omega)
+        np.testing.assert_array_almost_equal(expected.fresp, result.fresp)
+
+    def test_rtruediv_mimo_siso(self):
+        omega = np.logspace(-1, 1, 10)
+        tf_mimo = TransferFunction([1], [1, 0]) * np.eye(2)
+        frd_mimo = frd(tf_mimo, omega)
+        ss_mimo = ct.tf2ss(tf_mimo)
+        tf_siso = TransferFunction([1], [1, 1])
+        frd_siso = frd(tf_siso, omega)
+        ss_siso = ct.tf2ss(tf_siso)
+        expected = frd(tf_siso.__rtruediv__(tf_mimo), omega)
+
+        # Test division of MIMO FRD by SISO FRD
+        result = frd_siso.__rtruediv__(frd_mimo)
+        np.testing.assert_array_almost_equal(expected.omega, result.omega)
+        np.testing.assert_array_almost_equal(expected.fresp, result.fresp)
+
+        # Test division of MIMO TF by SISO FRD
+        result = frd_siso.__rtruediv__(tf_mimo)
+        np.testing.assert_array_almost_equal(expected.omega, result.omega)
+        np.testing.assert_array_almost_equal(expected.fresp, result.fresp)
+
+        # Test division of MIMO SS by SISO FRD
+        result = frd_siso.__rtruediv__(ss_mimo)
+        np.testing.assert_array_almost_equal(expected.omega, result.omega)
+        np.testing.assert_array_almost_equal(expected.fresp, result.fresp)
+
+
     @pytest.mark.parametrize(
         "left, right, expected",
         [
