#!/usr/bin/env python

#

# modelsimp_test.py - test model reduction functions

# RMM, 30 Mar 2011 (based on TestModelSimp from v0.4a)

import unittest

import numpy as np

from control.modelsimp import *

from control.matlab import *

from control.exception import slycot_check

class TestModelsimp(unittest.TestCase):

@unittest.skipIf(not slycot_check(), "slycot not installed")

def testHSVD(self):

A = np.matrix("1. -2.; 3. -4.")

B = np.matrix("5.; 7.")

C = np.matrix("6. 8.")

D = np.matrix("9.")

sys = ss(A,B,C,D)

hsv = hsvd(sys)

hsvtrue = np.matrix("24.42686 0.5731395") # from MATLAB

np.testing.assert_array_almost_equal(hsv, hsvtrue)

def testMarkov(self):

U = np.matrix("1.; 1.; 1.; 1.; 1.")

Y = U

M = 3

H = markov(Y,U,M)

Htrue = np.matrix("1.; 0.; 0.")

np.testing.assert_array_almost_equal( H, Htrue )

def testModredMatchDC(self):

#balanced realization computed in matlab for the transfer function:

# num = [1 11 45 32], den = [1 15 60 200 60]

A = np.matrix('-1.958, -1.194, 1.824, -1.464; \

-1.194, -0.8344, 2.563, -1.351; \

-1.824, -2.563, -1.124, 2.704; \

-1.464, -1.351, -2.704, -11.08')

B = np.matrix('-0.9057; -0.4068; -0.3263; -0.3474')

C = np.matrix('-0.9057, -0.4068, 0.3263, -0.3474')

D = np.matrix('0.')

sys = ss(A,B,C,D)

rsys = modred(sys,[2, 3],'matchdc')

Artrue = np.matrix('-4.431, -4.552; -4.552, -5.361')

Brtrue = np.matrix('-1.362; -1.031')

Crtrue = np.matrix('-1.362, -1.031')

Drtrue = np.matrix('-0.08384')

np.testing.assert_array_almost_equal(rsys.A, Artrue,decimal=3)

np.testing.assert_array_almost_equal(rsys.B, Brtrue,decimal=3)

np.testing.assert_array_almost_equal(rsys.C, Crtrue,decimal=3)

np.testing.assert_array_almost_equal(rsys.D, Drtrue,decimal=2)

def testModredTruncate(self):

#balanced realization computed in matlab for the transfer function:

# num = [1 11 45 32], den = [1 15 60 200 60]

A = np.matrix('-1.958, -1.194, 1.824, -1.464; \

-1.194, -0.8344, 2.563, -1.351; \

-1.824, -2.563, -1.124, 2.704; \

-1.464, -1.351, -2.704, -11.08')

B = np.matrix('-0.9057; -0.4068; -0.3263; -0.3474')

C = np.matrix('-0.9057, -0.4068, 0.3263, -0.3474')

D = np.matrix('0.')

sys = ss(A,B,C,D)

rsys = modred(sys,[2, 3],'truncate')

Artrue = np.matrix('-1.958, -1.194; -1.194, -0.8344')

Brtrue = np.matrix('-0.9057; -0.4068')

Crtrue = np.matrix('-0.9057, -0.4068')

Drtrue = np.matrix('0.')

np.testing.assert_array_almost_equal(rsys.A, Artrue)

np.testing.assert_array_almost_equal(rsys.B, Brtrue)

np.testing.assert_array_almost_equal(rsys.C, Crtrue)

np.testing.assert_array_almost_equal(rsys.D, Drtrue)

@unittest.skipIf(not slycot_check(), "slycot not installed")

def testBalredTruncate(self):

#controlable canonical realization computed in matlab for the transfer function:

# num = [1 11 45 32], den = [1 15 60 200 60]

A = np.matrix('-15., -7.5, -6.25, -1.875; \

8., 0., 0., 0.; \

0., 4., 0., 0.; \

0., 0., 1., 0.')

B = np.matrix('2.; 0.; 0.; 0.')

C = np.matrix('0.5, 0.6875, 0.7031, 0.5')

D = np.matrix('0.')

sys = ss(A,B,C,D)

orders = 2

rsys = balred(sys,orders,method='truncate')

Artrue = np.matrix('-1.958, -1.194; -1.194, -0.8344')

Brtrue = np.matrix('0.9057; 0.4068')

Crtrue = np.matrix('0.9057, 0.4068')

Drtrue = np.matrix('0.')

np.testing.assert_array_almost_equal(rsys.A, Artrue,decimal=2)

np.testing.assert_array_almost_equal(rsys.B, Brtrue,decimal=4)

np.testing.assert_array_almost_equal(rsys.C, Crtrue,decimal=4)

np.testing.assert_array_almost_equal(rsys.D, Drtrue,decimal=4)

def suite():

return unittest.TestLoader().loadTestsFromTestCase(TestModelsimp)

if __name__ == '__main__':

unittest.main()