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Merged
murrayrm merged 4 commits into from
May 31, 2019
Merged

Add 's' and 'z' variable support to tf() #304

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2042231
add support for 's' and 'z' as transfer functions
murrayrm May 25, 2019
8e01958
document the 's' and 'z' constants for TransferFunction
murrayrm May 25, 2019
8cb831f
merge changes from master and fix (simple) conflict
murrayrm May 31, 2019
1072dea
fix missed conflict
murrayrm May 31, 2019
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16 changes: 16 additions & 0 deletions control/tests/matlab_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -664,6 +664,22 @@ def testCombi01(self):
self.assertAlmostEqual(wg, 0.176469728448)
self.assertAlmostEqual(wp, 0.0616288455466)

def test_tf_string_args(self):
# Make sure that the 's' variable is defined properly
s = tf('s')
G = (s + 1)/(s**2 + 2*s + 1)
np.testing.assert_array_almost_equal(G.num, [[[1, 1]]])
np.testing.assert_array_almost_equal(G.den, [[[1, 2, 1]]])
self.assertTrue(isctime(G, strict=True))

# Make sure that the 'z' variable is defined properly
z = tf('z')
G = (z + 1)/(z**2 + 2*z + 1)
np.testing.assert_array_almost_equal(G.num, [[[1, 1]]])
np.testing.assert_array_almost_equal(G.den, [[[1, 2, 1]]])
self.assertTrue(isdtime(G, strict=True))


#! TODO: not yet implemented
# def testMIMOtfdata(self):
# sisotf = ss2tf(self.siso_ss1)
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17 changes: 16 additions & 1 deletion control/tests/xferfcn_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -11,8 +11,8 @@
ss2tf
from control.lti import evalfr
from control.exception import slycot_check
from control.lti import isctime, isdtime
from control.dtime import sample_system
# from control.lti import isdtime


class TestXferFcn(unittest.TestCase):
Expand Down Expand Up @@ -704,6 +704,21 @@ def test_ss2tf(self):
np.testing.assert_almost_equal(sys.num, true_sys.num)
np.testing.assert_almost_equal(sys.den, true_sys.den)

def test_class_constants(self):
# Make sure that the 's' variable is defined properly
s = TransferFunction.s
G = (s + 1)/(s**2 + 2*s + 1)
np.testing.assert_array_almost_equal(G.num, [[[1, 1]]])
np.testing.assert_array_almost_equal(G.den, [[[1, 2, 1]]])
self.assertTrue(isctime(G, strict=True))

# Make sure that the 'z' variable is defined properly
z = TransferFunction.z
G = (z + 1)/(z**2 + 2*z + 1)
np.testing.assert_array_almost_equal(G.num, [[[1, 1]]])
np.testing.assert_array_almost_equal(G.den, [[[1, 2, 1]]])
self.assertTrue(isdtime(G, strict=True))

def test_printing(self):
# SISO, continuous time
sys = ss2tf(rss(4, 1, 1))
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