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Merged
murrayrm merged 5 commits into from
Jun 6, 2023
Merged

Change name of converted LinearIOSystems #903

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0b5e3fa
consolidate system name prefix/suffix updates to namedio.sys
murrayrm Jun 3, 2023
37243f6
change system name when converting tf to ss
murrayrm Jun 3, 2023
0530b52
change system name when converting ss to tf
murrayrm Jun 3, 2023
e25ad67
add unit test to make sure implicit tf -> ss conversion keeps name
murrayrm Jun 4, 2023
d32a3db
fix up no Slycot case that was failing unit tests
murrayrm Jun 4, 2023
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add unit test to make sure implicit tf -> ss conversion keeps name
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@murrayrm
murrayrm committed Jun 4, 2023
commit e25ad673888e026da6c6e6dfcd0f99765b2d5d27
67 changes: 49 additions & 18 deletions control/tests/interconnect_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -246,23 +246,54 @@ def test_string_inputoutput():
assert P_s2.output_index == {'y2' : 0}

def test_linear_interconnect():
tf_ctrl = ct.tf(1, (10.1, 1), inputs='e', outputs='u')
tf_plant = ct.tf(1, (10.1, 1), inputs='u', outputs='y')
ss_ctrl = ct.ss(1, 2, 1, 2, inputs='e', outputs='u')
ss_plant = ct.ss(1, 2, 1, 2, inputs='u', outputs='y')
tf_ctrl = ct.tf(1, (10.1, 1), inputs='e', outputs='u', name='ctrl')
tf_plant = ct.tf(1, (10.1, 1), inputs='u', outputs='y', name='plant')
ss_ctrl = ct.ss(1, 2, 1, 0, inputs='e', outputs='u', name='ctrl')
ss_plant = ct.ss(1, 2, 1, 0, inputs='u', outputs='y', name='plant')
nl_ctrl = ct.NonlinearIOSystem(
lambda t, x, u, params: x*x,
lambda t, x, u, params: u*x, states=1, inputs='e', outputs='u')
lambda t, x, u, params: x*x, lambda t, x, u, params: u*x,
states=1, inputs='e', outputs='u', name='ctrl')
nl_plant = ct.NonlinearIOSystem(
lambda t, x, u, params: x*x,
lambda t, x, u, params: u*x, states=1, inputs='u', outputs='y')

assert isinstance(ct.interconnect((tf_ctrl, tf_plant), inputs='e', outputs='y'), ct.LinearIOSystem)
assert isinstance(ct.interconnect((ss_ctrl, ss_plant), inputs='e', outputs='y'), ct.LinearIOSystem)
assert isinstance(ct.interconnect((tf_ctrl, ss_plant), inputs='e', outputs='y'), ct.LinearIOSystem)
assert isinstance(ct.interconnect((ss_ctrl, tf_plant), inputs='e', outputs='y'), ct.LinearIOSystem)

assert ~isinstance(ct.interconnect((nl_ctrl, ss_plant), inputs='e', outputs='y'), ct.LinearIOSystem)
assert ~isinstance(ct.interconnect((nl_ctrl, tf_plant), inputs='e', outputs='y'), ct.LinearIOSystem)
assert ~isinstance(ct.interconnect((ss_ctrl, nl_plant), inputs='e', outputs='y'), ct.LinearIOSystem)
assert ~isinstance(ct.interconnect((tf_ctrl, nl_plant), inputs='e', outputs='y'), ct.LinearIOSystem)
lambda t, x, u, params: x*x, lambda t, x, u, params: u*x,
states=1, inputs='u', outputs='y', name='plant')
sumblk = ct.summing_junction(inputs=['r', '-y'], outputs=['e'], name='sum')

# Interconnections of linear I/O systems should be linear I/O system
assert isinstance(
ct.interconnect([tf_ctrl, tf_plant, sumblk], inputs='r', outputs='y'),
ct.LinearIOSystem)
assert isinstance(
ct.interconnect([ss_ctrl, ss_plant, sumblk], inputs='r', outputs='y'),
ct.LinearIOSystem)
assert isinstance(
ct.interconnect([tf_ctrl, ss_plant, sumblk], inputs='r', outputs='y'),
ct.LinearIOSystem)
assert isinstance(
ct.interconnect([ss_ctrl, tf_plant, sumblk], inputs='r', outputs='y'),
ct.LinearIOSystem)

# Interconnections with nonliner I/O systems should not be linear
assert ~isinstance(
ct.interconnect([nl_ctrl, ss_plant, sumblk], inputs='r', outputs='y'),
ct.LinearIOSystem)
assert ~isinstance(
ct.interconnect([nl_ctrl, tf_plant, sumblk], inputs='r', outputs='y'),
ct.LinearIOSystem)
assert ~isinstance(
ct.interconnect([ss_ctrl, nl_plant, sumblk], inputs='r', outputs='y'),
ct.LinearIOSystem)
assert ~isinstance(
ct.interconnect([tf_ctrl, nl_plant, sumblk], inputs='r', outputs='y'),
ct.LinearIOSystem)

# Implicit converstion of transfer function should retain name
clsys = ct.interconnect(
[tf_ctrl, ss_plant, sumblk],
connections=[
['plant.u', 'ctrl.u'],
['ctrl.e', 'sum.e'],
['sum.y', 'plant.y']
],
inplist=['sum.r'], inputs='r',
outlist=['plant.y'], outputs='y')
assert clsys.syslist[0].name == 'ctrl'