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Fix impuse response, input data only contains one input[0]==1 in each trace #1023

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merged 2 commits into from
Jul 7, 2024
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Fix impuse response, input data only contains one input[0]==1 in each trace #1023

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a03ed38
Fix impuse response, input data only contains one inpute[0]==1 in eac…
KybernetikJo Jul 3, 2024
7624aeb
Add regression test for discrete impulse response input
KybernetikJo Jul 4, 2024
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26 changes: 26 additions & 0 deletions control/tests/timeresp_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -536,6 +536,32 @@ def test_discrete_time_impulse(self, tsystem):
sysdt = sys.sample(dt, 'impulse')
np.testing.assert_array_almost_equal(impulse_response(sys, t)[1],
impulse_response(sysdt, t)[1])

def test_discrete_time_impulse_input(self):
# discrete time impulse input, Only one active input for each trace
A = [[.5, 0.25],[.0, .5]]
B = [[1., 0,],[0., 1.]]
C = [[1., 0.],[0., 1.]]
D = [[0., 0.],[0., 0.]]
dt = True
sysd = ct.ss(A,B,C,D, dt=dt)
response = ct.impulse_response(sysd,T=dt*3)

Uexpected = np.zeros((2,2,4), dtype=float).astype(object)
Uexpected[0,0,0] = 1./dt
Uexpected[1,1,0] = 1./dt

np.testing.assert_array_equal(response.inputs,Uexpected)

dt = 0.5
sysd = ct.ss(A,B,C,D, dt=dt)
response = ct.impulse_response(sysd,T=dt*3)

Uexpected = np.zeros((2,2,4), dtype=float).astype(object)
Uexpected[0,0,0] = 1./dt
Uexpected[1,1,0] = 1./dt

np.testing.assert_array_equal(response.inputs,Uexpected)

@pytest.mark.parametrize("tsystem", ["siso_ss1"], indirect=True)
def test_impulse_response_warnD(self, tsystem):
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2 changes: 1 addition & 1 deletion control/timeresp.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1960,7 +1960,7 @@ def impulse_response(sys, T=None, input=None, output=None, T_num=None,
yout[:, inpidx, :] = response.y if output is None \
else response.y[output]
xout[:, inpidx, :] = response.x
uout[:, inpidx, :] = U[i]
uout[:, inpidx, :] = U if input is None else U[i]

# Figure out if the system is SISO or not
issiso = sys.issiso() or (input is not None and output is not None)
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