a
    BCCf                     @   sF  d dl Z d dlZd dlmZmZmZmZmZ d dl	m
Z d dlmZmZmZmZmZmZmZmZmZmZmZmZmZmZ d dlmZ d dlmZ d!ddZG d	d
 d
Z G dd dZ!G dd dZ"G dd dZ#G dd dZ$G dd dZ%G dd dZ&G dd dZ'G dd dZ(G dd dZ)G dd dZ*G dd  d Z+dS )"    N)assert_almost_equalassert_equalassert_allcloseassert_suppress_warnings)raises)ss2tftf2ssltidltibodefreqresplsimimpulsestepabcd_normalizeplace_polesTransferFunction
StateSpaceZerosPolesGain)BadCoefficients:0yE>c              
   C   s   |  }| D ]}d}t|jd D ]P}tt|t|gt|| t|| g||r"d}t||  qtq"|stdt	| d t	| qdS )a  
    Check each pole in P1 is close to a pole in P2 with a 1e-8
    relative tolerance or 1e-8 absolute tolerance (useful for zero poles).
    These tolerances are very strict but the systems tested are known to
    accept these poles so we should not be far from what is requested.
    Fr   TzCan't find pole z in N)
copyrangeshapenpZallcloserealimagdelete
ValueErrorstr)ZP1ZP2rtolatolp1foundZp2_idx r%   Z/var/www/html/django/DPS/env/lib/python3.9/site-packages/scipy/signal/tests/test_ltisys.py_assert_poles_close   s    r'   c                   @   s4   e Zd Zdd Zdd Zdd Zdd Zd	d
 ZdS )TestPlacePolesc                 K   sZ   t |||fi |}tj|t||j \}}t||j t||j t||j |S )z
        Perform the most common tests on the poles computed by place_poles
        and return the Bunch object for further specific tests
        )	r   r   linalgZeigdotZgain_matrixr'   Zrequested_polesZcomputed_poles)selfABPkwargsfsfexpected_r%   r%   r&   _check'   s    zTestPlacePoles._checkc                 C   s   t g ddd}t g ddd}t g d}| j|||dd | j|||dd t jd	d
 | ||d W d    n1 s0    Y  d S )NgGz?gʿg\(@gNbX9g<,Ԛg)\(r   g?gOn?d;O@gV-gOn@g~jt?r5   grh|?gE    )r   K@V-?r8   r   r   ^I+	r      皙ɿ      g}гY9gDT!KNV0methodZYTignore)invalid)r:   r:      rC   )r   arrayreshaper3   errstate)r+   r,   r-   r.   r%   r%   r&   	test_real3   s    zTestPlacePoles.test_realc                 C   s  t g dg dg dg dg}t ddgddgddgddgg}t g d}t jddd | ||| W d    n1 s0    Y  g d	}t jddd" | j|||d
d W d    n1 s0    Y  t g ddd}t g ddd}g d}| ||| t dt d }t dt dgd dd d dd f  }||d dd df< ||d dd df< g d}t jddd | ||| W d    n1 s0    Y  g d}| |d dd df |d dd df | g d}| |d dd df |d dd df | t g ddd}t g ddd}t g d}t jddd t||| W d    n1 s0    Y  t g d}t jddd | ||| W d    n1 s0    Y  d S )N)r      r   r   )r   r   r   竪@)r   r   r   r   r      )                          ?rA   )dividerB   )y        ưy        ư>
   i  maxiter)$iii%iiFii[iiiYiiii\ii^iciii(i~iiiiir:   iSiiigiiipii   )iiiii0i_iLi`iiiii]ii#iii"iHiii<i^iUiiiciiiR   )y      9      =y      9      =@y      ?@      Ey      ?@      E@y     @@     Dy     @@     D@)   rV   rV   )rV   rQ   rQ   )rP   (   2   <   F   y      4      y      4      @y      @      @y      @      )
rP   rW   rX   iiiirL   )
y      $      $@y      4      4@y      >      >@y      D      D@y      I      I@y      $      $y      4      4y      >      >y      D      Dy      I      I)r   rH   r   r   r   r   r   rI   r   r   r   r   r   r   r   r   r   r   r   rU   r   r   r   r   	   )
r   r   r   r   rJ   r   r   rJ   r:   rC   r:   )y            ?y                        ?            )ra   rK   rb   rc   )	r   rD   rF   r3   rE   oneseyeZdiagr   )r+   r,   r-   r.   Zbig_AZbig_Br%   r%   r&   test_complexI   sb    

,0,...,zTestPlacePoles.test_complexc                 C   s   t g ddd}t g ddd}t g d}| |||}t|jt j t|jt j t d}| |||}t|jt j t|jt j |d d df dd}t d}| |||}t|jd t|jd d S )Nr4   r6   )r   r7   r8   r8   r   r   r9   r   rJ   r:   rC   r6   rU   rT   rH      r;   )rN   rM   rK   ra   r   rJ   )r   rD   rE   r3   r   r!   nannb_iter)r+   r,   r-   r.   r0   r%   r%   r&   test_tricky_B   s&    

zTestPlacePoles.test_tricky_Bc              	   C   s  t g ddd}t g ddd}ttt||ddd ttt||t ddd ttt|d d d d t jf |d ttt||d d d d t jf d ttt||d	 ttt||d
 ttt||ddd ttt||ddd ttt||d tttt dt dd tj	ddr}t
d t||dddd}tt|dk tt|d jt tdt|d jv  t|jd W d    n1 s0    Y  ttt||d ttt|d d d df |d ttt||d dd d f d ttt||ddd d S ) N)r   rH   r   r   r   r   r   rI   r   r   r   r   r   r   r   r   r6   )r   r   r   r   rJ   r   r   rJ   r:   ) 皙ffffff333333Zfoor?   rJ   )rl   rm   rn   ro   rK   )rl   rm   rn   *   r!   irR   )ra   ra   ra   ra   )r6   r6   )r6   r:   rJ   r:   rC   r6   T)recordalways)rL   ra   rK   rd   gؗҜ<)r!   rS   rL   z4Convergence was not reached after maxiter iterations)rN   rM                @ra   rC   )ra   rK   rd   )rN   rM   ru   y             r>   )r   rD   rE   assert_raisesr   r   Znewaxisre   warningscatch_warningssimplefilterr   len
issubclasscategoryUserWarningr    messager   rj   )r+   r,   r-   wr0   r%   r%   r&   test_errors   sR    


,  
zTestPlacePoles.test_errorsN)__name__
__module____qualname__r3   rG   rg   rk   r   r%   r%   r%   r&   r(   %   s
   P"r(   c                   @   sD   e Zd Zdd Zdd Zdd Zdd Zd	d
 Zdd Zdd Z	dS )	TestSS2TFc                 C   s<   t t||ft||ft||ft||fd d S )Nr   )r   r   zerosr+   pqrr%   r%   r&   check_matrix_shapes   s
    zTestSS2TF.check_matrix_shapesc                 C   s"   dD ]\}}}|  ||| qd S )N))rC   rC   rC   )rJ   rC   rC   rJ   rJ   rJ   )r   r   r%   r%   r&   test_shapes  s    zTestSS2TF.test_shapesc           	      C   s   t g d}t g d}t||\}}}}t|ddgddggdd t|dgdggdd t|dd	ggdd t|dggd
d t||||\}}t|d |dd t||dd d S )N)      ?      @      @)r          @r   ra   rK   rJ   r   vIh%<=rq   r:   +=)r   rD   r	   r   r   )	r+   bar,   r-   CDZbbZaar%   r%   r&   
test_basic  s    zTestSS2TF.test_basicc                 C   sF  d}t | \}}}}t|dggdd t|dggdd t|dggdd t|dggdd t||||\}}t|ddggdd t|ddgdd dgdggdf}t | \}}}}t|dggdd t|dggdd t|dgdggdd t|dgdggdd t||||\}}t|ddgddggdd t|ddgdd d S )N)r:   rJ   r   r   rq   r:   rJ   rU   )r	   r   r   r+   tfr,   r-   r   r   numdenr%   r%   r&   test_zero_order_round_trip  s$    z$TestSS2TF.test_zero_order_round_tripc                 C   s  ddgddggddgf}t | \}}}}t|dggdd t|dggdd t|dgdggdd t|dgdggdd t||||\}}t|ddgddggdd t|ddgdd g dg d	gg d	f}t | \}}}}t|ddgddggdd t|dgdggdd t|ddgddggdd t|dgdggdd t||||\}}t|g dg d	gdd t|g d	dd g d
g d
gg df}t | \}}}}t|g dg dg dgdd t|dgdgdggdd t|g d
g d
gdd t|dgdggdd t||||\}}t|g dg dgdd t|g ddd tjdddggtdddgf}t | \}}}}t|dggdd t|dggdd t|dgdggdd t|dgdggdd t||||\}}t|ddgddggdd t|ddgdd tjddgg d
gtdg df}t | \}}}}t|ddgddggdd t|dgdggdd t|ddgddggdd t|dgdggdd t||||\}}t|g dg d
gdd t|g ddd d S )NrJ   r:   ra   r   rq   r   rL   )rJ   r   rJ   r   )rJ   r:   rC   rr   )ra   rK   rd   )rJ   r   r   r   rJ   r   )r   rJ   r:   rC   rC   )ZdtyperT   ighe99irK   )rJ   rT   rU   rv   rd   )r   rJ   rK   )r	   r   r   r   rD   objectr   r%   r%   r&   test_simo_round_trip3  sZ     "zTestSS2TF.test_simo_round_tripc                 C   sv   g dg dg dg}dgdgdgg}g dg}dgg}t ||||\}}t|g dgdd	d
 t|g ddd d S )Nr   )r   r   rJ   )rK   rd   ra   r   rJ   )rU   rJ   r   )        r   r   r   r   r   r!   r"   )r   r         @r   rq   )r   r   )r+   r,   r-   r   r   r   r   r%   r%   r&   test_all_int_arraysl  s    
zTestSS2TF.test_all_int_arraysc                 C   s  t g dg dg dg dg}t dgdgdgdgg}t g dg d	g d
g}t dgdgdgg}t||||\}}t|||d |d \}}t|||d |d \}	}
t|||d |d \}}t||dd t|
|dd t||dd t|t ||	|fddd d S )N)      r   r   r   )r   r   r   r   )g      r   r   r   )g              @r   r   333333?r   g      @)r   r   r   r   )r   r   r   r   )r   r   r   r   r   r   rJ   r:   r   rq   r   r   )r   rD   r   r   Zvstack)r+   r,   r-   r   r   Zb_allr   Zb0Za0b1Za1b2Za2r%   r%   r&   test_multioutputu  s4    

zTestSS2TF.test_multioutputN)
r   r   r   r   r   r   r   r   r   r   r%   r%   r%   r&   r      s   9	r   c                   @   s`   e Zd ZdZdd Zdd Zdd Zdd	 Zd
d Zdd Z	dd Z
dd Zdd Zdd ZdS )TestLsimrH   c                 G   s<   t  "}|t t| }W d    n1 s.0    Y  |S N)r   filterr   r
   )r+   argssupsystemr%   r%   r&   
lti_nowarn  s    
&zTestLsim.lti_nowarnc                 C   sb   |  dddd}tdd}t|}t|||dgd\}}}t| }t|| t|| d S Nr   r   r   r   rU   X0r   r   linspace
zeros_liker   expr   r+   r   tutoutyx
expected_xr%   r%   r&   test_first_order  s    

zTestLsim.test_first_orderc                 C   sr   t ddd}t |}| dgg d}t|||ddgd\}}}d| t |  }t|d d df | d S )Nr   rQ   i  r   r   r   r   r   r   )r   r   r   r   r   r   r   )r+   r   r   r   r   r   r   r   r%   r%   r&   test_second_order  s    
zTestLsim.test_second_orderc                 C   sb   |  dddd}tdd}|}t|||\}}}d|d  }t||| jd t||| jd d S )Nr   r   r   rU         ?r:   decimal)r   r   r   r   r   digits_accuracyr   r%   r%   r&   test_integrator  s    zTestLsim.test_integratorc                 C   s   t ddgddgg}t ddgddgg}t ddg}t d}| ||||}t ddd}t t|d	f}t|||ddgd
\}}	}
t | }t | }t d| }t|	| t|
d d df | t|
d d df | d S )Nr   r          r   rJ   r:   r   g      $@   r:   )UTr   rJ   	r   rD   r   r   r   r{   r   r   r   r+   r,   r-   r   r   r   r   r   r   r   r   
expected_yZexpected_x0Zexpected_x1r%   r%   r&   test_two_states  s    

zTestLsim.test_two_statesc                 C   s   t ddgddgg}t dgdgg}t ddgg}| |||d}t dd}t |}t|||\}}}	t t d|d  |g}
|d }t|	|
| jd t||| jd d S )	Nr   r   r   r   rU   r   r:   r   )	r   rD   r   r   	ones_liker   Z	transposer   r   )r+   r,   r-   r   r   r   r   r   r   r   r   r   r%   r%   r&   test_double_integrator  s    
zTestLsim.test_double_integratorc                 C   s   t ddgddgg}t dgdgg}t ddgg}| |||d}t dd}t |}t|||ddgd\}}}	|t |  }
t||
 d S r   )r   rD   r   r   r   r   r   r   )r+   r,   r-   r   r   r   r   r   r   r   r   r%   r%   r&   test_jordan_block  s    
zTestLsim.test_jordan_blockc                 C   s   t ddgddgg}t ddgddgg}t ddg}t d}| ||||}t ddd}t t|d	f}t|||ddgd
\}}	}
t | }t | }t d| }t|	| t|
d d df | t|
d d df | d S )Nr   r   r   r   r   r   r   e   r:   r   rJ   r   r   r%   r%   r&   	test_miso  s    

zTestLsim.test_misoc                 C   sX   |  dddd}tdd}t|}t|||dgd\}}}t| }t|| d S )Nr   r   r   rJ   r:   r   r   )r+   r   r   r   r   r   r   r   r%   r%   r&   test_nonzero_initial_time  s    
z"TestLsim.test_nonzero_initial_timec                 C   sr   t g d}t g d}dgddgf}ttdd( t|||dgd\}}}W d    n1 sd0    Y  d S )N)r   r   r   r   )r   r   r   r   r   r   z"Time steps are not equally spaced.)matchr   )r   rD   rw   r   r   )r+   r   r   r   r   r   r   r%   r%   r&   test_nonequal_timesteps  s    z TestLsim.test_nonequal_timestepsN)r   r   r   r   r   r   r   r   r   r   r   r   r   r   r%   r%   r%   r&   r     s   
r   c                   @   sL   e Zd Zdd Zdd Zdd Zdd Zd	d
 Zdd Zdd Z	dd Z
dS )TestImpulsec                 C   s4   dgddgf}t |\}}t| }t|| d S Nr   r   r   r   r   r+   r   r   r   r   r%   r%   r&   r     s    zTestImpulse.test_first_orderc                 C   sb   dgddgf}d}t dd|}t||d\}}t|j|f t|| t | }t|| d S )Nr   r   r   r   r   )r   r   r   r   r   r   r   r+   r   nr   r   r   r   r%   r%   r&   test_first_order_fixed_time#  s    
z'TestImpulse.test_first_order_fixed_timec                 C   s<   dgddgf}t |dd\}}dt|  }t|| d S Nr   r   r   r   r   r   r%   r%   r&   test_first_order_initial1  s    z$TestImpulse.test_first_order_initialc                 C   s>   dgddgf}t |dgd\}}dt|  }t|| d S r   r   r   r%   r%   r&   test_first_order_initial_list;  s    z)TestImpulse.test_first_order_initial_listc                 C   s2   dgddgf}t |\}}t|}t|| d S Nr   r   )r   r   r   r   r   r%   r%   r&   r   E  s    
zTestImpulse.test_integratorc                 C   s8   dgg df}t |\}}|t|  }t|| d S )Nr   r   r   r   r%   r%   r&   r   L  s    zTestImpulse.test_second_orderc                 C   s@   dgg df}t |dgddgd\}}t |dgdgd\}}d S )Nr   r   rC   rU   rT   r   r   r   r+   r   r   r   r%   r%   r&   test_array_likeU  s    zTestImpulse.test_array_likec                 C   s$   dgg df}t |ddd\}}d S )Nr   r   rC   rU   r   r   r   r%   r%   r&   test_array_like2\  s    zTestImpulse.test_array_like2N)r   r   r   r   r   r   r   r   r   r   r   r%   r%   r%   r&   r     s   

	r   c                   @   sL   e Zd Zdd Zdd Zdd Zdd Zd	d
 Zdd Zdd Z	dd Z
dS )TestStepc                 C   s8   dgddgf}t |\}}dt|  }t|| d S r   r   r   r   r   r   r%   r%   r&   r   b  s    zTestStep.test_first_orderc                 C   sf   dgddgf}d}t dd|}t||d\}}t|j|f t|| dt |  }t|| d S )Nr   r   r   r   r   rJ   )r   r   r   r   r   r   r   r   r%   r%   r&   r   j  s    
z$TestStep.test_first_order_fixed_timec                 C   s@   dgddgf}t |dd\}}ddt|   }t|| d S Nr   r   r   rJ   r   r   r   r%   r%   r&   r   x  s    z!TestStep.test_first_order_initialc                 C   sB   dgddgf}t |dgd\}}ddt|   }t|| d S r   r   r   r%   r%   r&   r     s    z&TestStep.test_first_order_initial_listc                 C   s,   dgddgf}t |\}}|}t|| d S r   )r   r   r   r%   r%   r&   r     s    zTestStep.test_integratorc                 C   s@   dgg df}t |\}}dd| t|   }t|| d S )Nr   r   rJ   r   r   r%   r%   r&   r     s    zTestStep.test_second_orderc                 C   s&   dgg df}t |ddgd\}}d S )Nr   r   rU   rT   r   r   r   r%   r%   r&   r     s    zTestStep.test_array_likec                 C   s   t g dgdf d S )NrL   y      ?        r   r+   r%   r%   r&   test_complex_input  s    zTestStep.test_complex_inputN)r   r   r   r   r   r   r   r   r   r   r   r%   r%   r%   r&   r   a  s   

	r   c                   @   s   e Zd Zdd ZdS )TestLtic                 C   s   t dgdg}tt|t tt|t  tt|t  t|jd u  t tg tdgd}tt|t tt|t  tt|t  t|jd u  t g dgd}t dgdgdd}tt|t	 tt|t  tt|t  t|jd u  d S )NrJ   rL   rC   )
r
   r   
isinstancer   r   dtr   rD   r   r   r+   sr%   r%   r&   test_lti_instantiation  s     zTestLti.test_lti_instantiationN)r   r   r   r   r%   r%   r%   r&   r     s   r   c                   @   s,   e Zd Zdd Zdd Zdd Zdd Zd	S )
TestStateSpacec                 C   sl   t dddd t dgdgdgdg t tddgddggtdgdggtddggtdgg d S )NrJ   r:   rC   r6   r   )r   r   rD   r   r%   r%   r&   test_initialization  s
    &z"TestStateSpace.test_initializationc                 C   sh   t dddd}tt| t  tt| t tt| t tt ||u t| |u d S )NrJ   r:   rC   r6   )r   r   r   to_ssto_tfr   to_zpkr   r   r%   r%   r&   test_conversion  s    zTestStateSpace.test_conversionc                 C   s<   t dddd}t|jdg t|jdg t|jd u  d S NrJ   r   )r   r   polesr   r   r   r   r%   r%   r&   test_properties  s    zTestStateSpace.test_propertiesc              	   C   s  G dd d}t tddgddggtdgdggtddggtdgg}t td	d
gdd
ggtdgdggtddggtdgg}|d}|d}|d}tddd}t|}d|d< ttttj	tj
tjfD ]}	tt|	d| ||dd |	dt|||dd   tt||	d ||dd t|||dd |	d  tt||	d ||dd t|||dd |	d  tt |	d|  W d    q1 s0    Y  qtt|d ||dd t|d| |dd  tt|| ||dd t|t|||dd |dd dd tt ||  W d    n1 sZ0    Y  tt ||  W d    n1 s0    Y  tt ||  W d    n1 s0    Y  tt ||   W d    n1 s0    Y  tt | |  W d    n1 s&0    Y  tt ||   W d    n1 sZ0    Y  tt | |  W d    n1 s0    Y  tt|d ||dd d| t|||dd   tt" |tddg  W d    n1 s0    Y  tt" tddg|  W d    n1 s80    Y  tt ||  W d    n1 sj0    Y  tt* |tddgddgg  W d    n1 s0    Y  tt ||  W d    n1 s0    Y  tt ||   W d    n1 s0    Y  tt | |  W d    n1 sH0    Y  tt|| ||dd t|||dd t|||dd   tt|d ||dd d| t|||dd   ttd| ||dd d| t| ||dd   tt|| ||dd t|||dd t|||dd   tt ||   W d    n1 sZ0    Y  tt | |  W d    n1 s0    Y  || }
t|
jdk || }
t|
jdk d| }
t|
jdk | }
t|
jdk d S )Nc                   @   s   e Zd ZdS )z.TestStateSpace.test_operators.<locals>.BadTypeN)r   r   r   r%   r%   r%   r&   BadType  s   r   r=   gffffff?r   grJ   r   r<   gg?皙?g?d   r:   )r   r   gh㈵>)r"   rC   r6   ra   )r   r   rD   Zto_discreter   r   intfloatcomplexZfloat32Z
complex128r   r   rw   	TypeErrorr   r   r   )r+   r   s1s2Z
s_discreteZs2_discreteZs3_discreter   r   typr   r%   r%   r&   test_operators  s    




.
(
(
(
*
*
*
*
2
2
(
:
(
*
*""
*
*zTestStateSpace.test_operatorsN)r   r   r   r   r   r   r	  r%   r%   r%   r&   r     s   
r   c                   @   s$   e Zd Zdd Zdd Zdd ZdS )TestTransferFunctionc                 C   s6   t dd t dgdg t tdgtdg d S NrJ   r:   )r   r   rD   r   r%   r%   r&   r   d  s    
z(TestTransferFunction.test_initializationc                 C   sl   t ddgddg}tt| t tt| t  tt| t tt ||u t| |u d S NrJ   r   rL   )r   r   r   r   r   r   r   r   r   r%   r%   r&   r   j  s    z$TestTransferFunction.test_conversionc                 C   s2   t ddgddg}t|jdg t|jdg d S r  )r   r   r   r   r   r%   r%   r&   r   u  s    z$TestTransferFunction.test_propertiesN)r   r   r   r   r   r   r%   r%   r%   r&   r
  c  s   r
  c                   @   s   e Zd Zdd Zdd ZdS )TestZerosPolesGainc                 C   s<   t ddd t dgdgd t tdgtdgd d S r  )r   r   rD   r   r%   r%   r&   r     s    z&TestZerosPolesGain.test_initializationc                 C   sf   t ddd}tt| t tt| t tt| t  tt ||u t| |u d S )NrJ   r:   rC   )r   r   r   r   r   r   r   r   r   r%   r%   r&   r     s    z"TestZerosPolesGain.test_conversionN)r   r   r   r   r   r%   r%   r%   r&   r    s   r  c                   @   s   e Zd Zdd Zdd Zdd Zdd Zd	d
 Zdd Zdd Z	dd Z
dd Zdd Zdd Zdd Zdd Zdd Zdd Zdd  Zd!d" Zd#d$ Zd%d& Zd'd( Zd)d* Zd+d, Zd-S ).Test_abcd_normalizec                 C   sR   t ddgddgg| _t dgdgg| _t ddgg| _t dgg| _d S )Nr   r   r   r   r   r         @)r   rD   r,   r-   r   r   r   r%   r%   r&   setup_method  s    z Test_abcd_normalize.setup_methodc                 C   s   t tt d S r   )rw   r   r   r   r%   r%   r&   test_no_matrix_fails  s    z(Test_abcd_normalize.test_no_matrix_failsc                 C   s    t ttddg| j| j| j d S )NrJ   rL   )rw   r   r   r-   r   r   r   r%   r%   r&   test_A_nosquare_fails  s    z)Test_abcd_normalize.test_A_nosquare_failsc                 C   s    t tt| jddg| j| j d S NrL   rU   rw   r   r   r,   r   r   r   r%   r%   r&   test_AB_mismatch_fails  s    z*Test_abcd_normalize.test_AB_mismatch_failsc                 C   s$   t tt| j| jdgdgg| j d S )Nr   r   )rw   r   r   r,   r-   r   r   r%   r%   r&   test_AC_mismatch_fails  s    z*Test_abcd_normalize.test_AC_mismatch_failsc                 C   s    t tt| j| j| jddg d S )Nr  r   )rw   r   r   r,   r-   r   r   r%   r%   r&   test_CD_mismatch_fails  s    
z*Test_abcd_normalize.test_CD_mismatch_failsc                 C   s    t tt| jddg| j| j d S r  r  r   r%   r%   r&   test_BD_mismatch_fails  s    z*Test_abcd_normalize.test_BD_mismatch_failsc                 C   sR   t | j| j| j| j\}}}}t|| j t|| j t|| j t|| j d S r   )r   r,   r-   r   r   r   r+   r,   r-   r   r   r%   r%   r&   "test_normalized_matrices_unchanged  s
    z6Test_abcd_normalize.test_normalized_matrices_unchangedc                 C   s   t | j| jddgd\}}}}t|jd |jd  t|jd |jd  t|jd |jd  t|jd |jd  t|jd |jd  d S r   )r   r,   r-   r   r   r  r%   r%   r&   r     s    zTest_abcd_normalize.test_shapesc                 C   s~   t d}t d}t| j||d\}}}}t|| j t|| t|| t|jd |jd  t|jd | jjd  d S )Nr:   r   )r   r   r,   r-   r   r   rJ   r   r   r   r,   r   r   )r+   B_ZD_r,   r-   r   r   r%   r%   r&    test_zero_dimension_is_not_none1  s    



z4Test_abcd_normalize.test_zero_dimension_is_not_none1c                 C   s|   t d}t d}t| j||d\}}}}t|| j t|| t|| t|jd |jd  t|jd |jd  d S )Nr  )r   r:   r,   r-   r   r   rJ   r  )r+   r  ZC_r,   r-   r   r   r%   r%   r&    test_zero_dimension_is_not_none2  s    



z4Test_abcd_normalize.test_zero_dimension_is_not_none2c                 C   sl   t | j| j| jd\}}}}t|jd |jd  t|jd |jd  t|j| jjd | jjd f d S )N)r-   r   r   r   rJ   )r   r-   r   r   r   r   r  r%   r%   r&   test_missing_A  s    z"Test_abcd_normalize.test_missing_Ac                 C   sl   t | j| j| jd\}}}}t|jd |jd  t|jd |jd  t|j| jjd | jjd f d S )N)r,   r   r   r   rJ   )r   r,   r   r   r   r   r  r%   r%   r&   test_missing_B  s    z"Test_abcd_normalize.test_missing_Bc                 C   sl   t | j| j| jd\}}}}t|jd |jd  t|jd |jd  t|j| jjd | jjd f d S )Nr  r   rJ   )r   r,   r-   r   r   r   r  r%   r%   r&   test_missing_C  s    z"Test_abcd_normalize.test_missing_Cc                 C   sl   t | j| j| jd\}}}}t|jd |jd  t|jd |jd  t|j| jjd | jjd f d S )Nr   r   rJ   )r   r,   r-   r   r   r   r  r%   r%   r&   test_missing_D  s    z"Test_abcd_normalize.test_missing_Dc                 C   s   t | j| jd\}}}}t|jd |jd  t|jd |jd  t|jd |jd  t|j| jjd | jjd f t|j| jjd | jjd f d S )N)r   r   r   rJ   )r   r   r   r   r   r  r%   r%   r&   test_missing_AB  s     z#Test_abcd_normalize.test_missing_ABc                 C   s   t | j| jd\}}}}t|jd |jd  t|jd |jd  t|jd |jd  t|jd |jd  t|j| jjd | jjd f t|j| jjd | jjd f d S )N)r-   r   r   rJ   )r   r-   r   r   r   r  r%   r%   r&   test_missing_AC  s     z#Test_abcd_normalize.test_missing_ACc                 C   s   t | j| jd\}}}}t|jd |jd  t|jd |jd  t|jd |jd  t|jd |jd  t|j| jjd | jjd f t|j| jjd | jjd f d S )N)r-   r   r   rJ   )r   r-   r   r   r   r  r%   r%   r&   test_missing_AD  s     z#Test_abcd_normalize.test_missing_ADc                 C   s   t | j| jd\}}}}t|jd |jd  t|jd |jd  t|jd |jd  t|jd |jd  t|j| jjd | jjd f t|j| jjd | jjd f d S )N)r,   r   r   rJ   )r   r,   r   r   r   r  r%   r%   r&   test_missing_BC  s     z#Test_abcd_normalize.test_missing_BCc                 C   s   t tt| jd d S )N)r   )rw   r   r   r   r   r%   r%   r&   test_missing_ABC_fails  s    z*Test_abcd_normalize.test_missing_ABC_failsc                 C   s   t tt| j| jd d S )N)r,   r   )rw   r   r   r,   r   r   r%   r%   r&   test_missing_BD_fails  s    z)Test_abcd_normalize.test_missing_BD_failsc                 C   s   t tt| j| jd d S )N)r,   r-   )rw   r   r   r,   r-   r   r%   r%   r&   test_missing_CD_fails  s    z)Test_abcd_normalize.test_missing_CD_failsN)r   r   r   r  r  r  r  r  r  r  r  r   r  r!  r"  r#  r$  r%  r&  r'  r(  r)  r*  r+  r,  r%   r%   r%   r&   r    s,   

			r  c                   @   sT   e Zd Zdd Zdd Zdd Zdd Zd	d
 Zdd Zdd Z	dd Z
dd ZdS )	Test_bodec                 C   sD   t dgddg}g d}t||d\}}}g d}t||dd d S )NrJ   r   rJ   rQ   r  r   )r   rK   rW   r]   r   r
   r   r   )r+   r   r   magphaseexpected_magr%   r%   r&   test_01  s
    zTest_bode.test_01c                 C   sD   t dgddg}g d}t||d\}}}g d}t||dd d S )NrJ   r   rJ   rQ   r/  )gig33333Ur   r0  )r+   r   r   r1  r2  expected_phaser%   r%   r&   test_02(  s
    zTest_bode.test_02c                 C   sn   t dgddg}g d}t||d\}}}|d }t|j|t|j| }dtt| }t|| d S )NrJ   r.  r/                ?g      4@)	r
   r   r   polyvalr   r   log10absr   )r+   r   r   r1  r2  jwr   r3  r%   r%   r&   test_034  s    zTest_bode.test_03c                 C   sv   t dgddg}g d}t||d\}}}|d }t|j|t|j| }t|j|jd tj	 }t
|| d S )NrJ   r.  r/  r8  g     f@)r
   r   r   r9  r   r   Zarctan2r   r   pir   )r+   r   r   r1  r2  r<  r   r6  r%   r%   r&   test_04?  s    zTest_bode.test_04c                 C   sB   t dgddg}d}tdd|}t||d\}}}t|| d S NrJ   rQ   ra   r   )r
   r   logspacer   r   )r+   r   r   
expected_wr   r1  r2  r%   r%   r&   test_05J  s
    zTest_bode.test_05c                 C   s4   t dgddg}t|dd\}}}t|d d d S NrJ   r   r:   rA  g{Gz?)r
   r   r   r+   r   r   r1  r2  r%   r%   r&   test_06T  s    zTest_bode.test_06c                 C   s&   t dgg d}t|dd\}}}d S )NrJ   )rJ   r   r  r:   rA  )r
   r   rF  r%   r%   r&   test_07[  s    zTest_bode.test_07c                 C   sB   t g g dd}|jtdddd\}}}tt|ddd	 d S )
N)rP   rX   r]   r^   r_   rJ   rK   rY   r  r/  i>   r   )r
   r   r   rB  r   minrF  r%   r%   r&   test_08a  s    zTest_bode.test_08c              	   C   s   t g d}t|j}t dgdgdgg}t g dg}t dgg}t :}|t t||||}t	|dd\}}	}
W d    n1 s0    Y  dt 
t dd|d    }t|	| d S )	Nr   r   r   r   r   r   r   r   r   r  rA     rT   )r   rD   r)   	companionr   r   r   r   r
   r   r:  sqrtr   )r+   r   r,   r-   r   r   r   r   r   r1  r2  Zexpected_magnituder%   r%   r&   test_from_state_spaceg  s    
0 zTest_bode.test_from_state_spaceN)r   r   r   r4  r7  r=  r?  rD  rG  rH  rK  rQ  r%   r%   r%   r&   r-    s   
r-  c                   @   s<   e Zd Zdd Zdd Zdd Zdd Zd	d
 Zdd ZdS )Test_freqrespc                 C   s\   t dgddg}g d}t||d\}}g d}g d}t|j|dd t|j|dd d S )NrJ   r5  r/  )gGz?r   gׁsF?)MbXr=   rS  r   r
   r   r   r   r   )r+   r   r   HZexpected_reZexpected_imr%   r%   r&   test_output_manual~  s    z Test_freqresp.test_output_manualc                 C   sl   t dgddg}g d}t||d\}}|d }t|j|t|j| }t|j|j t|j|j d S )NrJ   r.  r/  r8  )	r
   r   r   r9  r   r   r   r   r   r+   r   r   rU  r   r1   r%   r%   r&   test_output  s    zTest_freqresp.test_outputc                 C   s@   t dgddg}d}tdd|}t||d\}}t|| d S r@  )r
   r   rB  r   r   )r+   r   r   rC  r   rU  r%   r%   r&   test_freq_range  s
    zTest_freqresp.test_freq_rangec                 C   s2   t dgddg}t|dd\}}t|d d d S rE  )r
   r   r   )r+   r   r   rU  r%   r%   r&   test_pole_zero  s    zTest_freqresp.test_pole_zeroc                 C   s   t g d}t|j}t dgdgdgg}t g dg}t dgg}t 8}|t t||||}t	|dd\}}	W d    n1 s0    Y  |d }
ddd|
  d|
d   |
d	   }t
|	j|j t
|	j|j d S )
NrL  r   r   rM  r  rA  r8  r:   rC   )r   rD   r)   rO  r   r   r   r   r
   r   r   r   r   )r+   r   r,   r-   r   r   r   r   r   rU  r   r1   r%   r%   r&   rQ    s    
.$z#Test_freqresp.test_from_state_spacec                 C   sd   t g dgd dg}g d}t||d\}}|d }d|d d  }t|j|j t|j|j d S )NrL   r6   rJ   r.  r/  r8  rT  rW  r%   r%   r&   test_from_zpk  s    zTest_freqresp.test_from_zpkN)	r   r   r   rV  rX  rY  rZ  rQ  r[  r%   r%   r%   r&   rR  |  s   
rR  )r   r   ),rx   numpyr   Znumpy.testingr   r   r   r   r   Zpytestr   rw   Zscipy.signalr   r	   r
   r   r   r   r   r   r   r   r   r   r   r   Zscipy.signal._filter_designr   Zscipy.linalgr)   r'   r(   r   r   r   r   r   r   r
  r  r  r-  rR  r%   r%   r%   r&   <module>   s.   @
 Z ~GI  d