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murrayrmmurrayrm
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Slight modifications to
Slight modifications to docstrings + unit tests
2 parents 52c5058 + 44dd3e6 commit be3bea5

2 files changed

Lines changed: 65 additions & 6 deletions

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‎control/bdalg.py‎

Lines changed: 5 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -61,8 +61,8 @@
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__all__ = ['series', 'parallel', 'negate', 'feedback', 'append', 'connect']
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64-
def series(sys1,*sysn):
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"""Return the series connection (... sys3 *) sys2 * sys1 for (... sys3 -->)--> sys1 --> sys2 -->.
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def series(sys1, *sysn):
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"""Return the series connection (... * sys3 *) sys2 * sys1
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Parameters
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----------
@@ -98,7 +98,7 @@ def series(sys1,*sysn):
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Examples
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--------
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>>> sys3 = series(sys1, sys2) # Same as sys3 = sys2 * sys1.
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>>> sys_final = series(sys1, sys2, sys3, sys4)
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>>> sys5 = series(sys1, sys2, sys3, sys4) # More syss
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"""
@@ -107,7 +107,7 @@ def series(sys1,*sysn):
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def parallel(sys1, *sysn):
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"""
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Return the parallel connection sys1 + sys2.
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Return the parallel connection sys1 + sys2 (+ sys3 + ...)
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Parameters
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----------
@@ -143,7 +143,6 @@ def parallel(sys1, *sysn):
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Examples
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--------
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>>> sys3 = parallel(sys1, sys2) # Same as sys3 = sys1 + sys2.
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>>> sys5 = parallel(sys1, sys2, sys3, sys4) # More syss
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"""
@@ -251,7 +250,7 @@ def feedback(sys1, sys2=1, sign=-1):
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return sys1.feedback(sys2, sign)
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def append(*sys):
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'''append(sys1, sys2, ... sysn)
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'''append(sys1, sys2, ..., sysn)
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Group models by appending their inputs and outputs
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‎control/tests/bdalg_test.py‎

Lines changed: 60 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -5,9 +5,12 @@
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import unittest
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import numpy as np
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from numpy import sort
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import control as ctrl
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from control.xferfcn import TransferFunction
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from control.statesp import StateSpace
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from control.bdalg import feedback
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from control.lti import zero, pole
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class TestFeedback(unittest.TestCase):
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"""These are tests for the feedback function in bdalg.py. Currently, some
@@ -177,6 +180,63 @@ def testTFTF(self):
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np.testing.assert_array_almost_equal(ans2.num, [[[1., 4., 7., 6.]]])
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np.testing.assert_array_almost_equal(ans2.den, [[[1., 4., 9., 8., 5.]]])
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def testLists(self):
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"""Make sure that lists of various lengths work for operations"""
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sys1 = ctrl.tf([1, 1], [1, 2])
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sys2 = ctrl.tf([1, 3], [1, 4])
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sys3 = ctrl.tf([1, 5], [1, 6])
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sys4 = ctrl.tf([1, 7], [1, 8])
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sys5 = ctrl.tf([1, 9], [1, 0])
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# Series
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sys1_2 = ctrl.series(sys1, sys2)
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np.testing.assert_array_almost_equal(sort(pole(sys1_2)), [-4., -2.])
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np.testing.assert_array_almost_equal(sort(zero(sys1_2)), [-3., -1.])
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sys1_3 = ctrl.series(sys1, sys2, sys3);
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np.testing.assert_array_almost_equal(sort(pole(sys1_3)),
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[-6., -4., -2.])
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np.testing.assert_array_almost_equal(sort(zero(sys1_3)),
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[-5., -3., -1.])
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sys1_4 = ctrl.series(sys1, sys2, sys3, sys4);
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np.testing.assert_array_almost_equal(sort(pole(sys1_4)),
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[-8., -6., -4., -2.])
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np.testing.assert_array_almost_equal(sort(zero(sys1_4)),
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[-7., -5., -3., -1.])
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sys1_5 = ctrl.series(sys1, sys2, sys3, sys4, sys5);
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np.testing.assert_array_almost_equal(sort(pole(sys1_5)),
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[-8., -6., -4., -2., -0.])
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np.testing.assert_array_almost_equal(sort(zero(sys1_5)),
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[-9., -7., -5., -3., -1.])
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# Parallel
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sys1_2 = ctrl.parallel(sys1, sys2)
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np.testing.assert_array_almost_equal(sort(pole(sys1_2)), [-4., -2.])
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np.testing.assert_array_almost_equal(sort(zero(sys1_2)),
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sort(zero(sys1 + sys2)))
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sys1_3 = ctrl.parallel(sys1, sys2, sys3);
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np.testing.assert_array_almost_equal(sort(pole(sys1_3)),
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[-6., -4., -2.])
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np.testing.assert_array_almost_equal(sort(zero(sys1_3)),
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sort(zero(sys1 + sys2 + sys3)))
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sys1_4 = ctrl.parallel(sys1, sys2, sys3, sys4);
227+
np.testing.assert_array_almost_equal(sort(pole(sys1_4)),
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[-8., -6., -4., -2.])
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np.testing.assert_array_almost_equal(sort(zero(sys1_4)),
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sort(zero(sys1 + sys2 +
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sys3 + sys4)))
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sys1_5 = ctrl.parallel(sys1, sys2, sys3, sys4, sys5);
235+
np.testing.assert_array_almost_equal(sort(pole(sys1_5)),
236+
[-8., -6., -4., -2., -0.])
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np.testing.assert_array_almost_equal(sort(zero(sys1_5)),
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sort(zero(sys1 + sys2 +
239+
sys3 + sys4 + sys5)))
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def suite():
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return unittest.TestLoader().loadTestsFromTestCase(TestFeedback)
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