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# ===================================================
# sb* synthesis tests
from slycot import synthesis
from slycot.exceptions import raise_if_slycot_error, \
SlycotParameterError, SlycotArithmeticError, \
SlycotResultWarning
from numpy import array, eye, zeros
from numpy.testing import assert_allclose, assert_raises
import pytest
from .test_exceptions import assert_docstring_parse
def test_sb02mt():
"""Test if sb02mt is callable
This is a dummy test, not really checking the wrapper of the FORTRAN
function
"""
out = synthesis.sb02mt(1, 1, 1., 1.)
assert(len(out) == 8)
def test_sb10ad():
"""Test sb10ad, Hinf synthesis"""
a = array([[-1]])
b = array([[1, 1]])
c = array([[1],
[1]])
d = array([[0, 1],
[1, 0]])
n = 1
m = 2
np = 2
ncon = 1
nmeas = 1
gamma = 10
gamma_est, Ak, Bk, Ck, Dk, Ac, Bc, Cc, Dc, rcond = synthesis.sb10ad(
n, m, np, ncon, nmeas, gamma, a, b, c, d)
# from Octave, which also uses SB10AD:
# a= -1; b1= 1; b2= 1; c1= 1; c2= 1; d11= 0; d12= 1; d21= 1; d22= 0;
# g = ss(a,[b1,b2],[c1;c2],[d11,d12;d21,d22]);
# [k,cl] = hinfsyn(g,1,1);
# k.a is Ak, cl.a is Ac
# gamma values don't match; not sure that's critical
# this is a bit fragile
# a simpler, more robust check might be to check stability of Ac
assert_allclose(Ak, array([[-3.]]))
assert_allclose(Ac, array([[-1., -1.],
[1., -3.]]))
def test_sb10jd():
""" verify the output of sb10jd for a descriptor system """
# test1 input parameters
n = 6
m = 1
np = 6
A = array([[ 0, 0, 0, -1, 1, 0],
[ 0, 32, 0, 0, -1, 1],
[ 0, 0, 1, 0, 0, 0],
[ 0, 0, 0, 1, 0, 0],
[-1, 1, 0, 0, 0, 0],
[ 0, -1, 1, 0, 0, 0]])
E = array([[ 0, 0, 0, 0, 0, 0],
[ 0, 0, 0, 0, 0, 0],
[ 0, 0, 0, -10, 0, 10],
[ 0, 0, 0, 0, 0, 0],
[ 0, 0, 0, 0, 0, 0],
[ 0, 0, 0, 0, 0, 0]])
B = array([[-7.1],
[ 0. ],
[ 0. ],
[ 0. ],
[ 0. ],
[ 0. ]])
C = eye(6)
D = zeros((7, 1))
# test1 expected results
Aexp = array([[-0.003125]])
Bexp = array([[ 0.059000]])
Cexp = array([[-1.17519e-02],
[-1.17519e-02],
[-1.17519e-02],
[ 0. ],
[ 0. ],
[ 3.76060e-01]])
Dexp = array([[ 2.21875e-01],
[ 2.21875e-01],
[ 2.21875e-01],
[ 0. ],
[ 7.100000+00],
[ 0. ]])
A_r, B_r, C_r, D_r = synthesis.sb10jd(n, m, np, A, B, C, D, E)
assert_allclose(A_r, Aexp, atol=1e-5)
assert_allclose(B_r, Bexp, atol=1e-5)
assert_allclose(C_r, Cexp, atol=1e-5)
assert_allclose(D_r, Dexp, atol=1e-5)
def test_sb10fd():
A = array(((-1.0, 0.0, 4.0, 5.0, -3.0, -2.0),
(-2.0, 4.0, -7.0, -2.0, 0.0, 3.0),
(-6.0, 9.0, -5.0, 0.0, 2.0, -1.0),
(-8.0, 4.0, 7.0, -1.0, -3.0, 0.0),
( 2.0, 5.0, 8.0, -9.0, 1.0, -4.0),
( 3.0, -5.0, 8.0, 0.0, 2.0, -6.0)))
B = array(((-3.0, -4.0, -2.0, 1.0, 0.0),
( 2.0, 0.0, 1.0, -5.0, 2.0),
(-5.0, -7.0, 0.0, 7.0, -2.0),
( 4.0, -6.0, 1.0, 1.0, -2.0),
(-3.0, 9.0, -8.0, 0.0, 5.0),
( 1.0, -2.0, 3.0, -6.0, -2.0)))
C = array(((1.0, -1.0, 2.0, -4.0, 0.0, -3.0),
(-3.0, 0.0, 5.0, -1.0, 1.0, 1.0),
(-7.0, 5.0, 0.0, -8.0, 2.0, -2.0),
( 9.0, -3.0, 4.0, 0.0, 3.0, 7.0),
( 0.0, 1.0, -2.0, 1.0, -6.0, -2.0)))
D = array((( 1.0, -2.0, -3.0, 0.0, 0.0),
( 0.0, 4.0, 0.0, 1.0, 0.0),
( 5.0, -3.0, -4.0, 0.0, 1.0),
( 0.0, 1.0, 0.0, 1.0, -3.0),
( 0.0, 0.0, 1.0, 7.0, 1.0)))
gamma, tol = 15.0, 0.00000001
n, m, np, ncon, nmeas = 6, 5, 5, 2, 2
# ldwork too small
assert_raises(SlycotParameterError, synthesis.sb10fd,
n, m, np, ncon, nmeas, gamma, A, B, C, D, tol, 1)
Ak, Bk, Ck, Dk, rcond = synthesis.sb10fd(
n, m, np, ncon, nmeas, gamma, A, B, C, D, tol, 900)
Ak, Bk, Ck, Dk, rcond = synthesis.sb10fd(
n, m, np, ncon, nmeas, gamma, A, B, C, D, tol, 0)
Ak, Bk, Ck, Dk, rcond = synthesis.sb10fd(
n, m, np, ncon, nmeas, gamma, A, B, C, D, tol)
Ak_ref = array((
( -2.8043, 14.7367, 4.6658, 8.1596, 0.0848, 2.5290),
( 4.6609, 3.2756, -3.5754, -2.8941, 0.2393, 8.2920),
(-15.3127, 23.5592, -7.1229, 2.7599, 5.9775, -2.0285),
(-22.0691, 16.4758, 12.5523, -16.3602, 4.4300, -3.3168),
( 30.6789, -3.9026, -1.3868, 26.2357, -8.8267, 10.4860),
( -5.7429, 0.0577, 10.8216, -11.2275, 1.5074, -10.7244)))
Bk_ref = array((
( -0.1581, -0.0793),
( -0.9237, -0.5718),
( 0.7984, 0.6627),
( 0.1145, 0.1496),
( -0.6743, -0.2376),
( 0.0196, -0.7598)))
Ck_ref = array((
( -0.2480, -0.1713, -0.0880, 0.1534, 0.5016, -0.0730),
( 2.8810, -0.3658, 1.3007, 0.3945, 1.2244, 2.5690)))
Dk_ref = array((
( 0.0554, 0.1334),
( -0.3195, 0.0333)))
assert_allclose(Ak, Ak_ref, rtol=1e-3)
assert_allclose(Bk, Bk_ref, rtol=1e-3)
assert_allclose(Ck, Ck_ref, rtol=1e-3)
assert_allclose(Dk, Dk_ref, rtol=1e-3, atol=1e-4)
assert_allclose(rcond, (1.0, 1.0, 0.011241, 0.80492e-3), rtol=1e-4)
def test_sb10fd_2():
""" fails, from python-control issue #367"""
A = array([[-1, 0, 0], [0, -12, -5], [0, 4, 0]])
B = array([[2, 0], [0, 0.5], [0, 0]])
C = array([[-0.5, 0, -0.5], [0, 0, 0], [-0.5, 0, -0.5]])
D = array([[0, 0], [0, 1], [0, 0]], dtype=float)
assert_raises(SlycotArithmeticError, synthesis.sb10fd,
3, 2, 3, 1, 1, 100, A, B, C, D, 1e-7, None)
@pytest.mark.parametrize(
'fun, exception_class, erange, checkvars',
((synthesis.sb01bd, SlycotArithmeticError, 2, {}),
(synthesis.sb01bd, SlycotResultWarning, [3, 4, [1, 0]], {'nap': '1'}),
(synthesis.sb02md, SlycotArithmeticError, 5, {}),
(synthesis.sb02od, SlycotArithmeticError, 6, {}),
(synthesis.sb03md57, SlycotResultWarning, 3, {'n': 2,
'dico': 'D'}),
(synthesis.sb03md57, SlycotResultWarning, 3, {'n': 2,
'dico': 'C'}),
(synthesis.sb03od, SlycotResultWarning, [1, 2], {'dico': 'C',
'fact': 'N'}),
(synthesis.sb03od, SlycotResultWarning, [1, 2, 3], {'dico': 'D',
'fact': 'N'}),
(synthesis.sb03od, SlycotArithmeticError, [4, 5, 6], {'dico': 'D',
'fact': 'F'}),
(synthesis.sb04md, SlycotArithmeticError, 2, {'m': 1}),
(synthesis.sb04qd, SlycotArithmeticError, 3, {'m': 2}),
(synthesis.sb10ad, SlycotArithmeticError, 12, {}),
(synthesis.sb10dd, SlycotArithmeticError, 9, {}),
(synthesis.sb10hd, SlycotArithmeticError, 4, {}),
(synthesis.sb10jd, SlycotArithmeticError, 0, {}),
(synthesis.sg02ad, SlycotArithmeticError, 7, {}),
(synthesis.sg02ad, SlycotResultWarning, [[1, 0]], {'dico': 'C'}),
(synthesis.sg02ad, SlycotResultWarning, [[1, 0]], {'dico': 'D'}),
(synthesis.sg03ad, SlycotArithmeticError, 2, {}),
(synthesis.sg03ad, SlycotResultWarning, [3, 4], {}),
(synthesis.sg03bd, SlycotResultWarning, 1, {}),
(synthesis.sg03bd, SlycotArithmeticError, range(2, 8), {}),
(synthesis.sb10fd, SlycotArithmeticError, 9, {}),
(synthesis.sb10fd, SlycotParameterError, (-27, ), {})))
def test_sb_docparse(fun, exception_class, erange, checkvars):
assert_docstring_parse(fun.__doc__, exception_class, erange, checkvars)