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Merged
murrayrm merged 2 commits into from
Nov 9, 2025
Merged

pytest marks for slycot, part 2 #1185

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63ce37d
pytest-parametrize and slycot-mark tests in mateqn_test.py
Nov 8, 2025
faaa40e
Add test marker noslycot & mark more tests with slycot
Nov 8, 2025
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12 changes: 8 additions & 4 deletions control/tests/conftest.py
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Original file line number Diff line number Diff line change
Expand Up @@ -7,10 +7,14 @@
import control

def pytest_runtest_setup(item):
if (not control.exception.slycot_check()
and any(mark.name == 'slycot'
for mark in item.iter_markers())):
pytest.skip("slycot not installed")
if not control.exception.slycot_check():
if any(mark.name == 'slycot'
for mark in item.iter_markers()):
pytest.skip("slycot not installed")
elif any(mark.name == 'noslycot'
for mark in item.iter_markers()):
# used, e.g., for tests checking ControlSlycot
pytest.skip("slycot installed")

if (not control.exception.cvxopt_check()
and any(mark.name == 'cvxopt'
Expand Down
22 changes: 14 additions & 8 deletions control/tests/convert_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -21,16 +21,13 @@
from control import rss, ss, ss2tf, tf, tf2ss
from control.statefbk import ctrb, obsv
from control.freqplot import bode
from control.exception import slycot_check, ControlMIMONotImplemented
from control.exception import ControlMIMONotImplemented


# Set to True to print systems to the output.
verbose = False
# Maximum number of states to test + 1
maxStates = 4
# Maximum number of inputs and outputs to test + 1
# If slycot is not installed, just check SISO
maxIO = 5 if slycot_check() else 2


@pytest.fixture
Expand All @@ -49,8 +46,13 @@ def printSys(self, sys, ind):

@pytest.mark.usefixtures("legacy_plot_signature")
@pytest.mark.parametrize("states", range(1, maxStates))
@pytest.mark.parametrize("inputs", range(1, maxIO))
@pytest.mark.parametrize("outputs", range(1, maxIO))
# If slycot is not installed, just check SISO
@pytest.mark.parametrize("inputs",
[1] + [pytest.param(i, marks=pytest.mark.slycot)
for i in range(2, 5)])
@pytest.mark.parametrize("outputs",
[1] + [pytest.param(i, marks=pytest.mark.slycot)
for i in range(2, 5)])
def testConvert(self, fixedseed, states, inputs, outputs):
"""Test state space to transfer function conversion.

Expand Down Expand Up @@ -147,7 +149,11 @@ def testConvert(self, fixedseed, states, inputs, outputs):
np.testing.assert_array_almost_equal(
ssorig_imag, tfxfrm_imag, decimal=5)

def testConvertMIMO(self):

@pytest.mark.parametrize('have_slycot',
[pytest.param(True, marks=pytest.mark.slycot),
pytest.param(False, marks=pytest.mark.noslycot)])
def testConvertMIMO(self, have_slycot):
"""Test state space to transfer function conversion.

Do a MIMO conversion and make sure that it is processed
Expand All @@ -165,7 +171,7 @@ def testConvertMIMO(self):
[0.008, 1.39, 48.78]]])

# Convert to state space and look for an error
if (not slycot_check()):
if not have_slycot:
with pytest.raises(ControlMIMONotImplemented):
tf2ss(tsys)
else:
Expand Down
6 changes: 2 additions & 4 deletions control/tests/interconnect_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -56,14 +56,12 @@ def test_summation_exceptions():
ct.summing_junction('u', 'y', dimension=False)


@pytest.mark.parametrize("dim", [1, 3])
@pytest.mark.parametrize("dim",
[1, pytest.param(3, marks=pytest.mark.slycot)])
def test_interconnect_implicit(dim):
"""Test the use of implicit connections in interconnect()"""
import random

if dim != 1 and not ct.slycot_check():
pytest.xfail("slycot not installed")

# System definition
P = ct.rss(2, dim, dim, strictly_proper=True, name='P')

Expand Down
48 changes: 24 additions & 24 deletions control/tests/lti_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,6 @@
import control as ct
from control import NonlinearIOSystem, c2d, common_timebase, isctime, \
isdtime, issiso, ss, tf, tf2ss
from control.exception import slycot_check
from control.lti import LTI, bandwidth, damp, dcgain, evalfr, poles, zeros


Expand Down Expand Up @@ -189,6 +188,10 @@ def test_isdtime(self, objfun, arg, dt, ref, strictref):
assert isctime(obj) == ref
assert isctime(obj, strict=True) == strictref

def p(*args):
# convenience for parametrize below
return pytest.param(*args, marks=pytest.mark.slycot)

@pytest.mark.usefixtures("editsdefaults")
@pytest.mark.parametrize("fcn", [ct.ss, ct.tf, ct.frd])
@pytest.mark.parametrize("nstate, nout, ninp, omega, squeeze, shape", [
Expand All @@ -201,26 +204,26 @@ def test_isdtime(self, objfun, arg, dt, ref, strictref):
[3, 1, 1, 0.1, False, (1, 1)],
[3, 1, 1, [0.1], False, (1, 1, 1)],
[3, 1, 1, [0.1, 1, 10], False, (1, 1, 3)],
[1, 2, 1, 0.1, None, (2, 1)], # SIMO
[1, 2, 1, [0.1], None, (2, 1, 1)],
[1, 2, 1, [0.1, 1, 10], None, (2, 1, 3)],
[2, 2, 1, 0.1, True, (2,)],
[2, 2, 1, [0.1], True, (2,)],
[3, 2, 1, 0.1, False, (2, 1)],
[3, 2, 1, [0.1], False, (2, 1, 1)],
[3, 2, 1, [0.1, 1, 10], False, (2, 1, 3)],
[1, 1, 2, [0.1, 1, 10], None, (1, 2, 3)], # MISO
[2, 1, 2, [0.1, 1, 10], True, (2, 3)],
[3, 1, 2, [0.1, 1, 10], False, (1, 2, 3)],
[1, 1, 2, 0.1, None, (1, 2)],
[1, 1, 2, 0.1, True, (2,)],
[1, 1, 2, 0.1, False, (1, 2)],
[1, 2, 2, [0.1, 1, 10], None, (2, 2, 3)], # MIMO
[2, 2, 2, [0.1, 1, 10], True, (2, 2, 3)],
[3, 2, 2, [0.1, 1, 10], False, (2, 2, 3)],
[1, 2, 2, 0.1, None, (2, 2)],
[2, 2, 2, 0.1, True, (2, 2)],
[3, 2, 2, 0.1, False, (2, 2)],
p(1, 2, 1, 0.1, None, (2, 1)),
p(1, 2, 1, [0.1], None, (2, 1, 1)),
p(1, 2, 1, [0.1, 1, 10], None, (2, 1, 3)),
p(2, 2, 1, 0.1, True, (2,)),
p(2, 2, 1, [0.1], True, (2,)),
p(3, 2, 1, 0.1, False, (2, 1)),
p(3, 2, 1, [0.1], False, (2, 1, 1)),
p(3, 2, 1, [0.1, 1, 10], False, (2, 1, 3)),
p(1, 1, 2, [0.1, 1, 10], None, (1, 2, 3)), # MISO
p(2, 1, 2, [0.1, 1, 10], True, (2, 3)),
p(3, 1, 2, [0.1, 1, 10], False, (1, 2, 3)),
p(1, 1, 2, 0.1, None, (1, 2)),
p(1, 1, 2, 0.1, True, (2,)),
p(1, 1, 2, 0.1, False, (1, 2)),
p(1, 2, 2, [0.1, 1, 10], None, (2, 2, 3)), # MIMO
p(2, 2, 2, [0.1, 1, 10], True, (2, 2, 3)),
p(3, 2, 2, [0.1, 1, 10], False, (2, 2, 3)),
p(1, 2, 2, 0.1, None, (2, 2)),
p(2, 2, 2, 0.1, True, (2, 2)),
p(3, 2, 2, 0.1, False, (2, 2)),
])
@pytest.mark.parametrize("omega_type", ["numpy", "native"])
def test_squeeze(self, fcn, nstate, nout, ninp, omega, squeeze, shape,
Expand All @@ -229,9 +232,6 @@ def test_squeeze(self, fcn, nstate, nout, ninp, omega, squeeze, shape,
# Create the system to be tested
if fcn == ct.frd:
sys = fcn(ct.rss(nstate, nout, ninp), [1e-2, 1e-1, 1, 1e1, 1e2])
elif fcn == ct.tf and (nout > 1 or ninp > 1) and not slycot_check():
pytest.skip("Conversion of MIMO systems to transfer functions "
"requires slycot.")
else:
sys = fcn(ct.rss(nstate, nout, ninp))

Expand Down
91 changes: 48 additions & 43 deletions control/tests/margin_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,6 @@
from control import ControlMIMONotImplemented, FrequencyResponseData, \
StateSpace, TransferFunction, margin, phase_crossover_frequencies, \
stability_margins, disk_margins, tf, ss
from control.exception import slycot_check

s = TransferFunction.s

Expand Down Expand Up @@ -394,6 +393,7 @@ def test_siso_disk_margin():
DM = disk_margins(L, omega, skew=1.0)[0]
assert_allclose([DM], [SM], atol=0.01)

@pytest.mark.slycot
def test_mimo_disk_margin():
# Frequencies of interest
omega = np.logspace(-1, 3, 1001)
Expand All @@ -404,23 +404,32 @@ def test_mimo_disk_margin():
Lo = P * K # loop transfer function, broken at plant output
Li = K * P # loop transfer function, broken at plant input

if slycot_check():
# Balanced (S - T) disk-based stability margins at plant output
# Balanced (S - T) disk-based stability margins at plant output
DMo, DGMo, DPMo = disk_margins(Lo, omega, skew=0.0)
assert_allclose([DMo], [0.3754], atol=0.1) # disk margin of 0.3754
assert_allclose([DGMo], [3.3], atol=0.1) # disk-based gain margin of 3.3 dB
assert_allclose([DPMo], [21.26], atol=0.1) # disk-based phase margin of 21.26 deg

# Balanced (S - T) disk-based stability margins at plant input
DMi, DGMi, DPMi = disk_margins(Li, omega, skew=0.0)
assert_allclose([DMi], [0.3754], atol=0.1) # disk margin of 0.3754
assert_allclose([DGMi], [3.3], atol=0.1) # disk-based gain margin of 3.3 dB
assert_allclose([DPMi], [21.26], atol=0.1) # disk-based phase margin of 21.26 deg


@pytest.mark.noslycot
def test_mimo_disk_margin_exception():
# Slycot not installed. Should throw exception.
# Frequencies of interest
omega = np.logspace(-1, 3, 1001)

# Loop transfer gain
P = ss([[0, 10], [-10, 0]], np.eye(2), [[1, 10], [-10, 1]], 0) # plant
K = ss([], [], [], [[1, -2], [0, 1]]) # controller
Lo = P * K # loop transfer function, broken at plant output
with pytest.raises(ControlMIMONotImplemented,\
match="Need slycot to compute MIMO disk_margins"):
DMo, DGMo, DPMo = disk_margins(Lo, omega, skew=0.0)
assert_allclose([DMo], [0.3754], atol=0.1) # disk margin of 0.3754
assert_allclose([DGMo], [3.3], atol=0.1) # disk-based gain margin of 3.3 dB
assert_allclose([DPMo], [21.26], atol=0.1) # disk-based phase margin of 21.26 deg

# Balanced (S - T) disk-based stability margins at plant input
DMi, DGMi, DPMi = disk_margins(Li, omega, skew=0.0)
assert_allclose([DMi], [0.3754], atol=0.1) # disk margin of 0.3754
assert_allclose([DGMi], [3.3], atol=0.1) # disk-based gain margin of 3.3 dB
assert_allclose([DPMi], [21.26], atol=0.1) # disk-based phase margin of 21.26 deg
else:
# Slycot not installed. Should throw exception.
with pytest.raises(ControlMIMONotImplemented,\
match="Need slycot to compute MIMO disk_margins"):
DMo, DGMo, DPMo = disk_margins(Lo, omega, skew=0.0)

def test_siso_disk_margin_return_all():
# Frequencies of interest
Expand All @@ -439,6 +448,8 @@ def test_siso_disk_margin_return_all():
assert_allclose([DPM[np.argmin(DM)]], [25.8],\
atol=0.1) # disk-based phase margin of 25.8 deg


@pytest.mark.slycot
def test_mimo_disk_margin_return_all():
# Frequencies of interest
omega = np.logspace(-1, 3, 1001)
Expand All @@ -450,29 +461,23 @@ def test_mimo_disk_margin_return_all():
Lo = P * K # loop transfer function, broken at plant output
Li = K * P # loop transfer function, broken at plant input

if slycot_check():
# Balanced (S - T) disk-based stability margins at plant output
DMo, DGMo, DPMo = disk_margins(Lo, omega, skew=0.0, returnall=True)
assert_allclose([omega[np.argmin(DMo)]], [omega[0]],\
atol=0.01) # sensitivity peak at 0 rad/s (or smallest provided)
assert_allclose([min(DMo)], [0.3754], atol=0.1) # disk margin of 0.3754
assert_allclose([DGMo[np.argmin(DMo)]], [3.3],\
atol=0.1) # disk-based gain margin of 3.3 dB
assert_allclose([DPMo[np.argmin(DMo)]], [21.26],\
atol=0.1) # disk-based phase margin of 21.26 deg

# Balanced (S - T) disk-based stability margins at plant input
DMi, DGMi, DPMi = disk_margins(Li, omega, skew=0.0, returnall=True)
assert_allclose([omega[np.argmin(DMi)]], [omega[0]],\
atol=0.01) # sensitivity peak at 0 rad/s (or smallest provided)
assert_allclose([min(DMi)], [0.3754],\
atol=0.1) # disk margin of 0.3754
assert_allclose([DGMi[np.argmin(DMi)]], [3.3],\
atol=0.1) # disk-based gain margin of 3.3 dB
assert_allclose([DPMi[np.argmin(DMi)]], [21.26],\
atol=0.1) # disk-based phase margin of 21.26 deg
else:
# Slycot not installed. Should throw exception.
with pytest.raises(ControlMIMONotImplemented,\
match="Need slycot to compute MIMO disk_margins"):
DMo, DGMo, DPMo = disk_margins(Lo, omega, skew=0.0, returnall=True)
# Balanced (S - T) disk-based stability margins at plant output
DMo, DGMo, DPMo = disk_margins(Lo, omega, skew=0.0, returnall=True)
assert_allclose([omega[np.argmin(DMo)]], [omega[0]],\
atol=0.01) # sensitivity peak at 0 rad/s (or smallest provided)
assert_allclose([min(DMo)], [0.3754], atol=0.1) # disk margin of 0.3754
assert_allclose([DGMo[np.argmin(DMo)]], [3.3],\
atol=0.1) # disk-based gain margin of 3.3 dB
assert_allclose([DPMo[np.argmin(DMo)]], [21.26],\
atol=0.1) # disk-based phase margin of 21.26 deg

# Balanced (S - T) disk-based stability margins at plant input
DMi, DGMi, DPMi = disk_margins(Li, omega, skew=0.0, returnall=True)
assert_allclose([omega[np.argmin(DMi)]], [omega[0]],\
atol=0.01) # sensitivity peak at 0 rad/s (or smallest provided)
assert_allclose([min(DMi)], [0.3754],\
atol=0.1) # disk margin of 0.3754
assert_allclose([DGMi[np.argmin(DMi)]], [3.3],\
atol=0.1) # disk-based gain margin of 3.3 dB
assert_allclose([DPMi[np.argmin(DMi)]], [21.26],\
atol=0.1) # disk-based phase margin of 21.26 deg
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