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fix testMimoW123 #320

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Merged
merged 1 commit into from
Jun 30, 2019
Merged

fix testMimoW123 #320

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10 changes: 5 additions & 5 deletions control/tests/robust_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -245,7 +245,7 @@ def testMimoW3(self):
@unittest.skipIf(not slycot_check(), "slycot not installed")
def testMimoW123(self):
"""MIMO plant with all weights"""
from control import augw, ss, append
from control import augw, ss, append, minreal
g = ss([[-1., -2], [-3, -4]],
[[1., 0.], [0., 1.]],
[[1., 0.], [0., 1.]],
Expand Down Expand Up @@ -295,10 +295,10 @@ def testMimoW123(self):
self.siso_almost_equal(w2[1, 1], p[3, 3])
# u->z3 should be w3*g
w3g = w3 * g;
self.siso_almost_equal(w3g[0, 0], p[4, 2])
self.siso_almost_equal(w3g[0, 1], p[4, 3])
self.siso_almost_equal(w3g[1, 0], p[5, 2])
self.siso_almost_equal(w3g[1, 1], p[5, 3])
self.siso_almost_equal(w3g[0, 0], minreal(p[4, 2]))
self.siso_almost_equal(w3g[0, 1], minreal(p[4, 3]))
self.siso_almost_equal(w3g[1, 0], minreal(p[5, 2]))
self.siso_almost_equal(w3g[1, 1], minreal(p[5, 3]))
# u->v should be -g
self.siso_almost_equal(-g[0, 0], p[6, 2])
self.siso_almost_equal(-g[0, 1], p[6, 3])
Expand Down