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ENH: add bdschur, which calls Slycot mb03rd. Change modal_form to us… #495

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Merged
murrayrm merged 4 commits into from
Jan 15, 2021
Merged

ENH: add bdschur, which calls Slycot mb03rd. Change modal_form to us… #495

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14079fb
ENH: add bdschur, which calls Slycot mb03rd. Change modal_form to us…
roryyorke Dec 31, 2020
f630b4a
Change docstrings to numpydoc conventions; update doc func index
roryyorke Jan 2, 2021
7122b07
Add @slycotonly decorator as needed
roryyorke Jan 2, 2021
8fc3627
update _convertToStateSpace to _convert_to_statespace
murrayrm Jan 15, 2021
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Add @slycotonly decorator as needed
  • Loading branch information
@roryyorke @murrayrm
roryyorke authored and murrayrm committed Jan 15, 2021
commit 7122b0760cc7820bdb5efa8257b48779b895bed7
13 changes: 9 additions & 4 deletions control/tests/canonical_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,8 @@
import pytest
import scipy.linalg

from control.tests.conftest import slycotonly

from control import ss, tf, tf2ss
from control.canonical import canonical_form, reachable_form, \
observable_form, modal_form, similarity_transform, bdschur
Expand Down Expand Up @@ -242,6 +244,7 @@ def block_diag_from_eig(eigvals):
return scipy.linalg.block_diag(*blocks)


@slycotonly
@pytest.mark.parametrize(
"eigvals, condmax, blksizes",
[
Expand All @@ -266,6 +269,7 @@ def test_bdschur_ref(eigvals, condmax, blksizes):
np.testing.assert_array_almost_equal(solve(t, a).dot(t), b)


@slycotonly
@pytest.mark.parametrize(
"eigvals, sorted_blk_eigvals, sort",
[
Expand Down Expand Up @@ -294,6 +298,7 @@ def test_bdschur_sort(eigvals, sorted_blk_eigvals, sort):
blk_eigval.imag)


@slycotonly
def test_bdschur_defective():
# the eigenvalues of this simple defective matrix cannot be separated
# a previous version of the bdschur would fail on this
Expand All @@ -316,16 +321,14 @@ def test_bdschur_condmax_lt_1():
bdschur(1, condmax=np.nextafter(1, 0))


@slycotonly
def test_bdschur_invalid_sort():
# sort must be in ('continuous', 'discrete')
with pytest.raises(ValueError):
bdschur(1, sort='no-such-sort')


# temp
from control import ss, tf, ControlNotImplemented


@slycotonly
@pytest.mark.parametrize(
"A_true, B_true, C_true, D_true",
[(np.diag([4.0, 3.0, 2.0, 1.0]), # order from largest to smallest
Expand Down Expand Up @@ -386,6 +389,7 @@ def test_modal_form(A_true, B_true, C_true, D_true):
np.dot(np.dot(C, np.linalg.matrix_power(A, i)), B))


@slycotonly
@pytest.mark.parametrize(
"condmax, len_blksizes",
[(1.1, 1),
Expand All @@ -404,6 +408,7 @@ def test_modal_form_condmax(condmax, len_blksizes):
np.testing.assert_array_almost_equal(zsys.D, xsys.D)


@slycotonly
@pytest.mark.parametrize(
"sys_type",
['continuous',
Expand Down