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Refactored matrix inversions (see #85 and #91) #101

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Merged
slivingston merged 14 commits into from
Dec 31, 2016
Merged

Refactored matrix inversions (see #85 and #91) #101

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4d70d00
Replaced a loop with a map
mp4096 Jun 13, 2016
8285cbf
Removed redundant numpy.linalg.solve calls
mp4096 Jun 13, 2016
29e7f95
Numerical improvements in statefbk.py
mp4096 Jun 13, 2016
443a7e3
Replaced `inv` with `solve` in mateqns
mp4096 Jul 3, 2016
af36e84
Added a test case for the reachable canon. form
mp4096 Jul 3, 2016
b9e4455
Replaced `inv` with `solve` in canonical forms class
mp4096 Jul 3, 2016
1fad4c6
Added a check for unreachable systems to canonical
mp4096 Jul 3, 2016
863538f
Replaced `inv` with `solve` and LSQ in modelsimp
mp4096 Jul 3, 2016
d5cb4f1
Fixed "compatability" typo
mp4096 Jul 3, 2016
6a2d96f
Removed rank check with a det in a statefbk test
mp4096 Jul 12, 2016
7b8c9f0
Added singularity check to the residualization method
mp4096 Jul 13, 2016
860cbe8
Added a unit test for residualization of unstable systems
mp4096 Jul 13, 2016
9a33509
Refactored code to be more pythonic
mp4096 Jul 13, 2016
71fef4b
Check eigenvalues' real part using NumPy
mp4096 Aug 25, 2016
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Added a test case for the reachable canon. form
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@mp4096
mp4096 committed Nov 20, 2016
commit af36e84759d194950e9577aa9e354809ed57089b
41 changes: 41 additions & 0 deletions control/tests/canonical_test.py
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#!/usr/bin/env python

import unittest
import numpy as np
from control import ss
from control.canonical import canonical_form


class TestCanonical(unittest.TestCase):
"""Tests for the canonical forms class"""

def test_reachable_form(self):
"""Test the reachable canonical form"""

# Create a system in the reachable canonical form
coeffs = [1.0, 2.0, 3.0, 4.0, 1.0]
A_true = np.polynomial.polynomial.polycompanion(coeffs)
A_true = np.fliplr(np.rot90(A_true))
B_true = np.matrix("1.0 0.0 0.0 0.0").T
C_true = np.matrix("1.0 1.0 1.0 1.0")
D_true = 42.0

# Perform a coordinate transform with a random invertible matrix
T_true = np.matrix([[-0.27144004, -0.39933167, 0.75634684, 0.44135471],
[-0.74855725, -0.39136285, -0.18142339, -0.50356997],
[-0.40688007, 0.81416369, 0.38002113, -0.16483334],
[-0.44769516, 0.15654653, -0.50060858, 0.72419146]])
A = np.linalg.solve(T_true, A_true)*T_true
B = np.linalg.solve(T_true, B_true)
C = C_true*T_true
D = D_true

# Create a state space system and convert it to the reachable canonical form
sys_check, T_check = canonical_form(ss(A, B, C, D), "reachable")

# Check against the true values
np.testing.assert_array_almost_equal(sys_check.A, A_true)
np.testing.assert_array_almost_equal(sys_check.B, B_true)
np.testing.assert_array_almost_equal(sys_check.C, C_true)
np.testing.assert_array_almost_equal(sys_check.D, D_true)
np.testing.assert_array_almost_equal(T_check, T_true)