76 lines
2.7 KiB
Python
76 lines
2.7 KiB
Python
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#!/usr/bin/env python
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#
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# rlocus_test.py - unit test for root locus diagrams
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# RMM, 1 Jul 2011
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import unittest
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import numpy as np
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from control.rlocus import root_locus, _RLClickDispatcher
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from control.xferfcn import TransferFunction
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from control.statesp import StateSpace
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from control.bdalg import feedback
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import matplotlib.pyplot as plt
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from control.tests.margin_test import assert_array_almost_equal
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class TestRootLocus(unittest.TestCase):
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"""These are tests for the feedback function in rlocus.py."""
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def setUp(self):
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"""This contains some random LTI systems and scalars for testing."""
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# Two random SISO systems.
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sys1 = TransferFunction([1, 2], [1, 2, 3])
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sys2 = StateSpace([[1., 4.], [3., 2.]], [[1.], [-4.]],
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[[1., 0.]], [[0.]])
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self.systems = (sys1, sys2)
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def check_cl_poles(self, sys, pole_list, k_list):
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for k, poles in zip(k_list, pole_list):
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poles_expected = np.sort(feedback(sys, k).pole())
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poles = np.sort(poles)
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np.testing.assert_array_almost_equal(poles, poles_expected)
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def testRootLocus(self):
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"""Basic root locus plot"""
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klist = [-1, 0, 1]
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for sys in self.systems:
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roots, k_out = root_locus(sys, klist, Plot=False)
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np.testing.assert_equal(len(roots), len(klist))
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np.testing.assert_array_equal(klist, k_out)
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self.check_cl_poles(sys, roots, klist)
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def test_without_gains(self):
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for sys in self.systems:
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roots, kvect = root_locus(sys, Plot=False)
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self.check_cl_poles(sys, roots, kvect)
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def test_root_locus_zoom(self):
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"""Check the zooming functionality of the Root locus plot"""
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system = TransferFunction([1000], [1, 25, 100, 0])
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root_locus(system)
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fig = plt.gcf()
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ax_rlocus = fig.axes[0]
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event = type('test', (object,), {'xdata': 14.7607954359, 'ydata': -35.6171379864, 'inaxes': ax_rlocus.axes})()
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ax_rlocus.set_xlim((-10.813628105112421, 14.760795435937652))
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ax_rlocus.set_ylim((-35.61713798641108, 33.879716621220311))
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plt.get_current_fig_manager().toolbar.mode = 'zoom rect'
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_RLClickDispatcher(event, system, fig, ax_rlocus, '-')
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zoom_x = ax_rlocus.lines[-2].get_data()[0][0:5]
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zoom_y = ax_rlocus.lines[-2].get_data()[1][0:5]
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zoom_y = [abs(y) for y in zoom_y]
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zoom_x_valid = [-5. ,- 4.61281263, - 4.16689986, - 4.04122642, - 3.90736502]
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zoom_y_valid = [0. ,0., 0., 0., 0.]
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assert_array_almost_equal(zoom_x,zoom_x_valid)
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assert_array_almost_equal(zoom_y,zoom_y_valid)
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def test_suite():
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return unittest.TestLoader().loadTestsFromTestCase(TestRootLocus)
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if __name__ == "__main__":
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unittest.main()
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