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Allow unit tests to run without slycot #122

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Merged
slivingston merged 4 commits into from
Dec 31, 2016
Merged

Allow unit tests to run without slycot #122

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020734d
fix to init() to handle 0d arrays properly
murrayrm Dec 25, 2016
cab850a
update unit tests to skip anything requiring slycot if it is not inst…
murrayrm Dec 25, 2016
c90a399
added code to check for MIMO in statesp._convertToStateSpace + unit t…
murrayrm Dec 26, 2016
7de3cc8
TRV: adjusted indentation + removed trailing space
murrayrm Dec 31, 2016
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4 changes: 4 additions & 0 deletions control/statesp.py
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Original file line number Diff line number Diff line change
Expand Up @@ -667,6 +667,10 @@ def _convertToStateSpace(sys, **kw):
ssout[3][:sys.outputs, :states],
ssout[4], sys.dt)
except ImportError:
# If slycot is not available, use signal.lti (SISO only)
if (sys.inputs != 1 or sys.outputs != 1):
raise TypeError("No support for MIMO without slycot")

# TODO: do we want to squeeze first and check dimenations?
# I think this will fail if num and den aren't 1-D after
# the squeeze
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23 changes: 23 additions & 0 deletions control/tests/convert_test.py
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Expand Up @@ -162,6 +162,29 @@ def testConvert(self):
np.testing.assert_array_almost_equal( \
ssorig_imag, tfxfrm_imag)

def testConvertMIMO(self):
"""Test state space to transfer function conversion."""
verbose = self.debug

# Do a MIMO conversation and make sure that it is processed
# correctly both with and without slycot
#
# Example from issue #120, jgoppert
import control

# Set up a transfer function (should always work)
tfcn = control.tf([[[-235, 1.146e4],
[-235, 1.146E4],

@slivingston slivingston Dec 31, 2016

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Indentation here and on the next 4 lines seems to be slightly off. I recommend

        tfcn = control.tf([[[-235, 1.146e4],
                            [-235, 1.146E4],
                            [-235, 1.146E4, 0]]],
                          [[[1, 48.78, 0],
                            [1, 48.78, 0, 0],
                            [0.008, 1.39, 48.78]]])

[-235, 1.146E4, 0]]],
[[[1, 48.78, 0],
[1, 48.78, 0, 0],
[0.008, 1.39, 48.78]]])

# Convert to state space and look for an error
if (not slycot_check()):
self.assertRaises(TypeError, control.tf2ss, tfcn)


def suite():
return unittest.TestLoader().loadTestsFromTestCase(TestConvert)

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