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Merged
bnavigator merged 4 commits into from
Mar 17, 2021
Merged

Step info improve jpp #567

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1263550
Added 5 test for step_info:
juanodecc Mar 12, 2021
f964170
Solve issue #337, #565 and #564
juanodecc Mar 12, 2021
018d128
optimize the code and solve problems with MIMO
juanodecc Mar 16, 2021
81ae64f
fix comment format
bnavigator Mar 17, 2021
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Added 5 test for step_info: 
1) System Type 1 - Step response not stationary:  G(s)=1/s(s+1)
2) SISO system with under shoot response and positive final value G(s)=(-s+1)/(s²+s+1)
3) Same system that 2) with k=-1
4) example from matlab online help https://www.mathworks.com/help/control/ref/stepinfo.html G(s)=(s²+5s+5)/(s^4+1.65s^3+6.5s+2)

with stepinfo output:

        RiseTime: 3.8456
    SettlingTime: 27.9762
     SettlingMin: 2.0689
     SettlingMax: 2.6873
       Overshoot: 7.4915
      Undershoot: 0
            Peak: 2.6873
        PeakTime: 8.0530

5) example from matlab online help https://www.mathworks.com/help/control/ref/stepinfo.html
A = [0.68 -0.34; 0.34 0.68];
B = [0.18 -0.05; 0.04 0.11];
C = [0 -1.53; -1.12 -1.10];
D = [0 0; 0.06 -0.37];
sys = StateSpace(A,B,C,D,0.2);
examine the response characteristics for the response from the first input to the second output of sys.

with stepinfo output:

        RiseTime: 0.4000
    SettlingTime: 2.8000
     SettlingMin: -0.6724
     SettlingMax: -0.5188
       Overshoot: 24.6476
      Undershoot: 11.1224
            Peak: 0.6724
        PeakTime: 1
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@juanodecc
juanodecc committed Mar 12, 2021
commit 12635500e42d89cb4abfbb0fed88d2d6b5594e72
105 changes: 104 additions & 1 deletion control/tests/timeresp_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -193,6 +193,35 @@ def pole_cancellation(self):
def no_pole_cancellation(self):
return TransferFunction([1.881e+06],
[188.1, 1.881e+06])

@pytest.fixture
def siso_tf_type1(self):
# System Type 1 - Step response not stationary: G(s)=1/s(s+1)
return TransferFunction(1, [1, 1, 0])

@pytest.fixture
def siso_tf_kpos(self):
# SISO under shoot response and positive final value G(s)=(-s+1)/(s²+s+1)
return TransferFunction([-1, 1], [1, 1, 1])

@pytest.fixture
def siso_tf_kneg(self):
# SISO under shoot response and negative final value k=-1 G(s)=-(-s+1)/(s²+s+1)
return TransferFunction([1, -1], [1, 1, 1])

@pytest.fixture
def tf1_matlab_help(self):
# example from matlab online help https://www.mathworks.com/help/control/ref/stepinfo.html
return TransferFunction([1, 5, 5], [1, 1.65, 5, 6.5, 2])

@pytest.fixture
def tf2_matlab_help(self):
A = [[0.68, - 0.34], [0.34, 0.68]]
B = [[0.18], [0.04]]
C = [-1.12, - 1.10]
D = [0.06]
sys = StateSpace(A, B, C, D, 0.2)
return sys

@pytest.fixture
def tsystem(self,
Expand All @@ -202,7 +231,9 @@ def tsystem(self,
siso_dtf0, siso_dtf1, siso_dtf2,
siso_dss1, siso_dss2,
mimo_dss1, mimo_dss2, mimo_dtf1,
pole_cancellation, no_pole_cancellation):
pole_cancellation, no_pole_cancellation, siso_tf_type1,
siso_tf_kpos, siso_tf_kneg, tf1_matlab_help,
tf2_matlab_help):
systems = {"siso_ss1": siso_ss1,
"siso_ss2": siso_ss2,
"siso_tf1": siso_tf1,
Expand All @@ -220,6 +251,11 @@ def tsystem(self,
"mimo_dtf1": mimo_dtf1,
"pole_cancellation": pole_cancellation,
"no_pole_cancellation": no_pole_cancellation,
"siso_tf_type1": siso_tf_type1,
"siso_tf_kpos": siso_tf_kpos,
"siso_tf_kneg": siso_tf_kneg,
"tf1_matlab_help": tf1_matlab_help,
"tf2_matlab_help": tf2_matlab_help,
}
return systems[request.param]

Expand Down Expand Up @@ -303,6 +339,73 @@ def test_step_info(self):
[Strue[k] for k in Sktrue],
rtol=rtol)

# tolerance for all parameters could be wrong for some systems ej: discrete systems time parameters tolerance
# could be +/-dt
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@pytest.mark.parametrize(
"tsystem, info_true, tolerance",
[("tf1_matlab_help", {
'RiseTime': 3.8456,
'SettlingTime': 27.9762,
'SettlingMin': 2.0689,
'SettlingMax': 2.6873,
'Overshoot': 7.4915,
'Undershoot': 0,
'Peak': 2.6873,
'PeakTime': 8.0530,
'SteadyStateValue': 2.5}, 2e-2),
("tf2_matlab_help", {
'RiseTime': 0.4000,
'SettlingTime': 2.8000,
'SettlingMin': -0.6724,
'SettlingMax': -0.5188,
'Overshoot': 24.6476,
'Undershoot': 11.1224,
'Peak': 0.6724,
'PeakTime': 1,
'SteadyStateValue': -0.5394}, .2),
("siso_tf_kpos", {
'RiseTime': 1.242,
'SettlingTime': 9.110,
'SettlingMin': 0.950,
'SettlingMax': 1.208,
'Overshoot': 20.840,
'Undershoot': 27.840,
'Peak': 1.208,
'PeakTime': 4.282,
'SteadyStateValue': 1.0}, 2e-2),
("siso_tf_kneg", {
'RiseTime': 1.242,
'SettlingTime': 9.110,
'SettlingMin': -1.208,
'SettlingMax': -0.950,
'Overshoot': 20.840,
'Undershoot': 27.840,
'Peak': 1.208,
'PeakTime': 4.282,
'SteadyStateValue': -1.0}, 2e-2),
("siso_tf_type1", {'RiseTime': np.NaN,
'SettlingTime': np.NaN,
'SettlingMin': np.NaN,
'SettlingMax': np.NaN,
'Overshoot': np.NaN,
'Undershoot': np.NaN,
'Peak': np.Inf,
'PeakTime': np.Inf,
'SteadyStateValue': np.NaN}, 2e-2)],
indirect=["tsystem"])
def test_step_info(self, tsystem, info_true, tolerance):
""" """
info = step_info(tsystem)

info_true_sorted = sorted(info_true.keys())
info_sorted = sorted(info.keys())

assert info_sorted == info_true_sorted

np.testing.assert_allclose([info_true[k] for k in info_true_sorted],
[info[k] for k in info_sorted],
rtol=tolerance)

def test_step_pole_cancellation(self, pole_cancellation,
no_pole_cancellation):
# confirm that pole-zero cancellation doesn't perturb results
Expand Down