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fix impulse size for discrete-time impulse response #447

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Merged
merged 2 commits into from
Dec 28, 2020
Merged

fix impulse size for discrete-time impulse response #447

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dec1455
code fix and unit test
sawyerbfuller Aug 10, 2020
0b85e3b
suggested fix to unit test
sawyerbfuller Aug 10, 2020
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9 changes: 9 additions & 0 deletions control/tests/timeresp_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -204,6 +204,15 @@ def test_impulse_response(self):
np.testing.assert_array_almost_equal(
yy, np.vstack((youttrue, np.zeros_like(youttrue))), decimal=4)

def test_discrete_time_impulse(self):
# discrete time impulse sampled version should match cont time
dt = 0.1
t = np.arange(0, 3, dt)
sys = self.siso_tf1
sysdt = sys.sample(dt, 'impulse')
np.testing.assert_array_almost_equal(impulse_response(sys, t)[1],
impulse_response(sysdt, t)[1])

def test_initial_response(self):
# Test SISO system
sys = self.siso_ss1
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2 changes: 1 addition & 1 deletion control/timeresp.py
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Expand Up @@ -815,7 +815,7 @@ def impulse_response(sys, T=None, X0=0., input=0, output=None, T_num=None,
new_X0 = B + X0
else:
new_X0 = X0
U[0] = 1.
U[0] = 1./sys.dt # unit area impulse

T, yout, _xout = forced_response(sys, T, U, new_X0, transpose=transpose,
squeeze=squeeze)
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