Skip to content

ease precision tolerance for iosys tests #366

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 1 commit into from
Jan 7, 2020
Merged

ease precision tolerance for iosys tests #366

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
42 changes: 21 additions & 21 deletions control/tests/iosys_test.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -60,7 +60,7 @@ def test_linear_iosys(self):
lti_t, lti_y, lti_x = ct.forced_response(linsys, T, U, X0)
ios_t, ios_y = ios.input_output_response(iosys, T, U, X0)
np.testing.assert_array_almost_equal(lti_t, ios_t)
np.testing.assert_array_almost_equal(lti_y, ios_y, decimal=3)
np.testing.assert_allclose(lti_y, ios_y,atol=0.002,rtol=0.)

@unittest.skipIf(StrictVersion(sp.__version__) < "1.0",
"requires SciPy 1.0 or greater")
Expand All @@ -75,7 +75,7 @@ def test_tf2io(self):
lti_t, lti_y, lti_x = ct.forced_response(linsys, T, U, X0)
ios_t, ios_y = ios.input_output_response(iosys, T, U, X0)
np.testing.assert_array_almost_equal(lti_t, ios_t)
np.testing.assert_array_almost_equal(lti_y, ios_y, decimal=3)
np.testing.assert_allclose(lti_y, ios_y,atol=0.002,rtol=0.)

def test_ss2io(self):
# Create an input/output system from the linear system
Expand Down Expand Up @@ -161,7 +161,7 @@ def test_nonlinear_iosys(self):
lti_t, lti_y, lti_x = ct.forced_response(linsys, T, U, X0)
ios_t, ios_y = ios.input_output_response(nlsys, T, U, X0)
np.testing.assert_array_almost_equal(lti_t, ios_t)
np.testing.assert_array_almost_equal(lti_y, ios_y, decimal=3)
np.testing.assert_allclose(lti_y, ios_y,atol=0.002,rtol=0.)

def test_linearize(self):
# Create a single input/single output linear system
Expand Down Expand Up @@ -214,7 +214,7 @@ def test_connect(self):
iosys_series, T, U, X0, return_x=True)
lti_t, lti_y, lti_x = ct.forced_response(linsys_series, T, U, X0)
np.testing.assert_array_almost_equal(lti_t, ios_t)
np.testing.assert_array_almost_equal(lti_y, ios_y, decimal=3)
np.testing.assert_allclose(lti_y, ios_y,atol=0.002,rtol=0.)

# Connect systems with different timebases
linsys2c = self.siso_linsys
Expand All @@ -231,7 +231,7 @@ def test_connect(self):
iosys_series, T, U, X0, return_x=True)
lti_t, lti_y, lti_x = ct.forced_response(linsys_series, T, U, X0)
np.testing.assert_array_almost_equal(lti_t, ios_t)
np.testing.assert_array_almost_equal(lti_y, ios_y, decimal=3)
np.testing.assert_allclose(lti_y, ios_y,atol=0.002,rtol=0.)

# Feedback interconnection
linsys_feedback = ct.feedback(linsys1, linsys2)
Expand All @@ -246,7 +246,7 @@ def test_connect(self):
iosys_feedback, T, U, X0, return_x=True)
lti_t, lti_y, lti_x = ct.forced_response(linsys_feedback, T, U, X0)
np.testing.assert_array_almost_equal(lti_t, ios_t)
np.testing.assert_array_almost_equal(lti_y, ios_y, decimal=3)
np.testing.assert_allclose(lti_y, ios_y,atol=0.002,rtol=0.)

@unittest.skipIf(StrictVersion(sp.__version__) < "1.0",
"requires SciPy 1.0 or greater")
Expand Down Expand Up @@ -357,7 +357,7 @@ def test_summer(self):

lin_t, lin_y, lin_x = ct.forced_response(linsys_parallel, T, U, X0)
ios_t, ios_y = ios.input_output_response(iosys_parallel, T, U, X0)
np.testing.assert_array_almost_equal(ios_y, lin_y, decimal=3)
np.testing.assert_allclose(ios_y, lin_y,atol=0.002,rtol=0.)

@unittest.skipIf(StrictVersion(sp.__version__) < "1.0",
"requires SciPy 1.0 or greater")
Expand Down Expand Up @@ -420,7 +420,7 @@ def test_feedback(self):

ios_t, ios_y = ios.input_output_response(iosys, T, U, X0)
lti_t, lti_y, lti_x = ct.forced_response(linsys, T, U, X0)
np.testing.assert_array_almost_equal(ios_y, lti_y, decimal=3)
np.testing.assert_allclose(ios_y, lti_y,atol=0.002,rtol=0.)

@unittest.skipIf(StrictVersion(sp.__version__) < "1.0",
"requires SciPy 1.0 or greater")
Expand All @@ -442,7 +442,7 @@ def test_bdalg_functions(self):
iosys_series = ct.series(linio1, linio2)
lin_t, lin_y, lin_x = ct.forced_response(linsys_series, T, U, X0)
ios_t, ios_y = ios.input_output_response(iosys_series, T, U, X0)
np.testing.assert_array_almost_equal(ios_y, lin_y, decimal=3)
np.testing.assert_allclose(ios_y, lin_y,atol=0.002,rtol=0.)

# Make sure that systems don't commute
linsys_series = ct.series(linsys2, linsys1)
Expand All @@ -454,21 +454,21 @@ def test_bdalg_functions(self):
iosys_parallel = ct.parallel(linio1, linio2)
lin_t, lin_y, lin_x = ct.forced_response(linsys_parallel, T, U, X0)
ios_t, ios_y = ios.input_output_response(iosys_parallel, T, U, X0)
np.testing.assert_array_almost_equal(ios_y, lin_y, decimal=3)
np.testing.assert_allclose(ios_y, lin_y,atol=0.002,rtol=0.)

# Negation
linsys_negate = ct.negate(linsys1)
iosys_negate = ct.negate(linio1)
lin_t, lin_y, lin_x = ct.forced_response(linsys_negate, T, U, X0)
ios_t, ios_y = ios.input_output_response(iosys_negate, T, U, X0)
np.testing.assert_array_almost_equal(ios_y, lin_y, decimal=3)
np.testing.assert_allclose(ios_y, lin_y,atol=0.002,rtol=0.)

# Feedback interconnection
linsys_feedback = ct.feedback(linsys1, linsys2)
iosys_feedback = ct.feedback(linio1, linio2)
lin_t, lin_y, lin_x = ct.forced_response(linsys_feedback, T, U, X0)
ios_t, ios_y = ios.input_output_response(iosys_feedback, T, U, X0)
np.testing.assert_array_almost_equal(ios_y, lin_y, decimal=3)
np.testing.assert_allclose(ios_y, lin_y,atol=0.002,rtol=0.)

@unittest.skipIf(StrictVersion(sp.__version__) < "1.0",
"requires SciPy 1.0 or greater")
Expand Down Expand Up @@ -496,26 +496,26 @@ def test_nonsquare_bdalg(self):
iosys_multiply = iosys_3i2o * iosys_2i3o
lin_t, lin_y, lin_x = ct.forced_response(linsys_multiply, T, U2, X0)
ios_t, ios_y = ios.input_output_response(iosys_multiply, T, U2, X0)
np.testing.assert_array_almost_equal(ios_y, lin_y, decimal=3)
np.testing.assert_allclose(ios_y, lin_y,atol=0.002,rtol=0.)

linsys_multiply = linsys_2i3o * linsys_3i2o
iosys_multiply = iosys_2i3o * iosys_3i2o
lin_t, lin_y, lin_x = ct.forced_response(linsys_multiply, T, U3, X0)
ios_t, ios_y = ios.input_output_response(iosys_multiply, T, U3, X0)
np.testing.assert_array_almost_equal(ios_y, lin_y, decimal=3)
np.testing.assert_allclose(ios_y, lin_y,atol=0.002,rtol=0.)

# Right multiplication
# TODO: add real tests once conversion from other types is supported
iosys_multiply = ios.InputOutputSystem.__rmul__(iosys_3i2o, iosys_2i3o)
ios_t, ios_y = ios.input_output_response(iosys_multiply, T, U3, X0)
np.testing.assert_array_almost_equal(ios_y, lin_y, decimal=3)
np.testing.assert_allclose(ios_y, lin_y,atol=0.002,rtol=0.)

# Feedback
linsys_multiply = ct.feedback(linsys_3i2o, linsys_2i3o)
iosys_multiply = iosys_3i2o.feedback(iosys_2i3o)
lin_t, lin_y, lin_x = ct.forced_response(linsys_multiply, T, U3, X0)
ios_t, ios_y = ios.input_output_response(iosys_multiply, T, U3, X0)
np.testing.assert_array_almost_equal(ios_y, lin_y, decimal=3)
np.testing.assert_allclose(ios_y, lin_y,atol=0.002,rtol=0.)

# Mismatch should generate exception
args = (iosys_3i2o, iosys_3i2o)
Expand All @@ -536,8 +536,8 @@ def test_discrete(self):
# Simulate and compare to LTI output
ios_t, ios_y = ios.input_output_response(lnios, T, U, X0)
lin_t, lin_y, lin_x = ct.forced_response(linsys, T, U, X0)
np.testing.assert_array_almost_equal(ios_t, lin_t, decimal=3)
np.testing.assert_array_almost_equal(ios_y, lin_y, decimal=3)
np.testing.assert_allclose(ios_t, lin_t,atol=0.002,rtol=0.)
np.testing.assert_allclose(ios_y, lin_y,atol=0.002,rtol=0.)

# Test MIMO system, converted to discrete time
linsys = ct.StateSpace(self.mimo_linsys1)
Expand All @@ -552,8 +552,8 @@ def test_discrete(self):
# Simulate and compare to LTI output
ios_t, ios_y = ios.input_output_response(lnios, T, U, X0)
lin_t, lin_y, lin_x = ct.forced_response(linsys, T, U, X0)
np.testing.assert_array_almost_equal(ios_t, lin_t, decimal=3)
np.testing.assert_array_almost_equal(ios_y, lin_y, decimal=3)
np.testing.assert_allclose(ios_t, lin_t,atol=0.002,rtol=0.)
np.testing.assert_allclose(ios_y, lin_y,atol=0.002,rtol=0.)

def test_find_eqpts(self):
"""Test find_eqpt function"""
Expand Down Expand Up @@ -738,7 +738,7 @@ def test_params(self):

# Check to make sure results are OK
np.testing.assert_array_almost_equal(lti_t, ios_t)
np.testing.assert_array_almost_equal(lti_y, ios_y, decimal=3)
np.testing.assert_allclose(lti_y, ios_y,atol=0.002,rtol=0.)

def test_named_signals(self):
sys1 = ios.NonlinearIOSystem(
Expand Down