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Kevin Chen
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Separated tests in TestSlycot.py
Lauren Padilla <lpadilla@princeton.edu>
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Lines changed: 98 additions & 28 deletions

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‎src/TestSlycot.py‎

Lines changed: 98 additions & 28 deletions
Original file line numberDiff line numberDiff line change
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#!/usr/bin/env python
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3-
#### THIS MUST BE MADE INTO A UNITTEST TO BE PART OF THE TESTING FUNCTIONS!!!!
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import numpy as np
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from slycot import tb04ad, td04ad
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import matlab
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import unittest
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numTests = 1
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maxStates = 3
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maxIO = 3
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for states in range(1, maxStates):
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for inputs in range(1, maxIO):
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for outputs in range(1, maxIO):
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sys1 = matlab.rss(states, inputs, outputs)
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print "sys1"
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print sys1
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sys2 = tb04ad(states,inputs,outputs,sys1.A,sys1.B,sys1.C,sys1.D,outputs,outputs,inputs)
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print "sys2"
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print sys2
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ldwork = 100*max(1,states+max(states,max(3*inputs,3*outputs)))
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dwork = np.zeros(ldwork)
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sys3 = td04ad(inputs,outputs,sys2[4],sys2[5],sys2[6])
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#sys3 = td04ad(inputs,outputs,sys2[4],sys2[5],sys2[6],ldwork)
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print "sys3"
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print sys3
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sys4 = tb04ad(states,inputs,outputs,sys3[1][0:states,0:states],sys3[2][0:states,0:inputs],sys3[3][0:outputs,0:states],sys3[4],outputs,outputs,inputs)
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print "sys4"
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print sys4
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class TestSlycot(unittest.TestCase):
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def setUp(self):
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"""Define some test parameters."""
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self.numTests = 1
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self.maxStates = 10 #seems to fail rarely with 4, sometimes with 5, frequently with 6. Could it be a problem with the subsystems?
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self.maxIO = 10
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def testTF(self):
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""" Directly tests the functions tb04ad and td04ad through direct comparison of transfer function coefficients.
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Similar to TestConvert, but tests at a lower level.
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"""
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for states in range(1, self.maxStates):
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for inputs in range(1, self.maxIO+1):
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for outputs in range(1, self.maxIO+1):
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for testNum in range(self.numTests):
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ssOriginal = matlab.rss(states, inputs, outputs)
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print '====== Original SS =========='
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print ssOriginal
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print 'states=',states
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print 'inputs=',inputs
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print 'outputs=',outputs
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tfOriginal_Actrb, tfOriginal_Bctrb, tfOriginal_Cctrb, tfOrigingal_nctrb, tfOriginal_index,\
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tfOriginal_dcoeff, tfOriginal_ucoeff = tb04ad('R',states,inputs,outputs,\
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ssOriginal.A,ssOriginal.B,ssOriginal.C,ssOriginal.D,tol1=1e-10)
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ssTransformed_nr, ssTransformed_A, ssTransformed_B, ssTransformed_C, ssTransformed_D\
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= td04ad('R',inputs,outputs,tfOriginal_index,tfOriginal_dcoeff,tfOriginal_ucoeff,tol=1e-8)
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tfTransformed_Actrb, tfTransformed_Bctrb, tfTransformed_Cctrb, tfTransformed_nctrb,\
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tfTransformed_index, tfTransformed_dcoeff, tfTransformed_ucoeff = tb04ad('R',\
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ssTransformed_nr,inputs,outputs,ssTransformed_A, ssTransformed_B, ssTransformed_C,\
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ssTransformed_D,tol1=1e-10)
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print 'size(Trans_A)=',ssTransformed_A.shape
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print 'Trans_nr=',ssTransformed_nr
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print 'tfOrig_index=',tfOriginal_index
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print 'tfOrig_ucoeff=',tfOriginal_ucoeff
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print 'tfOrig_dcoeff=',tfOriginal_dcoeff
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print 'tfTrans_index=',tfTransformed_index
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print 'tfTrans_ucoeff=',tfTransformed_ucoeff
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print 'tfTrans_dcoeff=',tfTransformed_dcoeff
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#Compare the TF directly, must match
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#numerators
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np.testing.assert_array_almost_equal(tfOriginal_ucoeff,tfTransformed_ucoeff,decimal=3)
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#denominators
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np.testing.assert_array_almost_equal(tfOriginal_dcoeff,tfTransformed_dcoeff,decimal=3)
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def testFreqResp(self):
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"""Compare the bode reponses of the SS systems and TF systems to the original SS
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They generally are different realizations but have same freq resp.
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Currently this test may only be applied to SISO systems.
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for states in range(1,self.maxStates):
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for testNum in range(self.numTests):
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for inputs in range(1,self.maxIO+1):
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for outputs in range(1,self.maxIO+1):
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ssOriginal = matlab.rss(states, inputs, outputs)
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tfOriginal_Actrb, tfOriginal_Bctrb, tfOriginal_Cctrb, tfOrigingal_nctrb, tfOriginal_index,\
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tfOriginal_dcoeff, tfOriginal_ucoeff = tb04ad('R',states,inputs,outputs,\
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ssOriginal.A,ssOriginal.B,ssOriginal.C,ssOriginal.D,tol1=1e-10)
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ssTransformed_nr, ssTransformed_A, ssTransformed_B, ssTransformed_C, ssTransformed_D\
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= td04ad('R',inputs,outputs,tfOriginal_index,tfOriginal_dcoeff,tfOriginal_ucoeff,tol=1e-8)
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tfTransformed_Actrb, tfTransformed_Bctrb, tfTransformed_Cctrb, tfTransformed_nctrb,\
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tfTransformed_index, tfTransformed_dcoeff, tfTransformed_ucoeff = tb04ad('R',\
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ssTransformed_nr,inputs,outputs,ssTransformed_A, ssTransformed_B, ssTransformed_C,\
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ssTransformed_D,tol1=1e-10)
3582
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numTransformed = np.array(tfTransformed_ucoeff)
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denTransformed = np.array(tfTransformed_dcoeff)
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numOriginal = np.array(tfOriginal_ucoeff)
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denOriginal = np.array(tfOriginal_dcoeff)
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ssTransformed = matlab.ss(ssTransformed_A,ssTransformed_B,ssTransformed_C,ssTransformed_D)
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for inputNum in range(inputs):
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for outputNum in range(outputs):
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#[ssOriginalMag,ssOriginalPhase,freq] = matlab.bode(ssOriginal,Plot=False)
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[tfOriginalMag,tfOriginalPhase,freq] = matlab.bode(matlab.tf(numOriginal[outputNum][inputNum],denOriginal[outputNum]),Plot=False)
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#[ssTransformedMag,ssTransformedPhase,freq] = matlab.bode(ssTransformed,freq,Plot=False)
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[tfTransformedMag,tfTransformedPhase,freq] = matlab.bode(matlab.tf(numTransformed[outputNum][inputNum],denTransformed[outputNum]),freq,Plot=False)
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print 'numOrig=',numOriginal[outputNum][inputNum]
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print 'denOrig=',denOriginal[outputNum]
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print 'numTrans=',numTransformed[outputNum][inputNum]
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print 'denTrans=',denTransformed[outputNum]
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#np.testing.assert_array_almost_equal(ssOriginalMag,tfOriginalMag,decimal=3)
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#np.testing.assert_array_almost_equal(ssOriginalPhase,tfOriginalPhase,decimal=3)
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#np.testing.assert_array_almost_equal(ssOriginalMag,ssTransformedMag,decimal=3)
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#np.testing.assert_array_almost_equal(ssOriginalPhase,ssTransformedPhase,decimal=3)
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#np.testing.assert_array_almost_equal(tfOriginalMag,tfTransformedMag,decimal=3)
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np.testing.assert_array_almost_equal(tfOriginalPhase,tfTransformedPhase,decimal=2)
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"""
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#These are here for once the above is made into a unittest.
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def suite():
38-
return unittest.TestLoader().loadTestsFromTestCase(TestSlycot)
108+
return unittest.TestLoader().loadTestsFromTestCase(TestSlycot)
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40110
if __name__=='__main__':
41-
unittest.main()
111+
unittest.main()
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