From dec1455c38a4d5324c5a0cbb8a4d96aa42fdf105 Mon Sep 17 00:00:00 2001 From: Sawyer Fuller Date: Sun, 9 Aug 2020 23:37:56 -0700 Subject: [PATCH 1/2] code fix and unit test --- control/tests/timeresp_test.py | 8 ++++++++ control/timeresp.py | 2 +- 2 files changed, 9 insertions(+), 1 deletion(-) diff --git a/control/tests/timeresp_test.py b/control/tests/timeresp_test.py index 5549b2a88..93ac59e25 100644 --- a/control/tests/timeresp_test.py +++ b/control/tests/timeresp_test.py @@ -204,6 +204,14 @@ def test_impulse_response(self): np.testing.assert_array_almost_equal( yy, np.vstack((youttrue, np.zeros_like(youttrue))), decimal=4) + # discrete time + self.siso_tf1 + dt = 0.1 + sysdt = self.siso_tf1.sample(dt, 'impulse') + t = np.arange(0, 3, dt) + np.testing.assert_array_almost_equal(control.impulse_response(sys, t)[1], + control.impulse_response(sysdt, t)[1]) + def test_initial_response(self): # Test SISO system sys = self.siso_ss1 diff --git a/control/timeresp.py b/control/timeresp.py index 8670c180d..d6c31a89b 100644 --- a/control/timeresp.py +++ b/control/timeresp.py @@ -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) From 0b85e3b13538257aab64b910ab4dace7a7146831 Mon Sep 17 00:00:00 2001 From: Sawyer Fuller Date: Mon, 10 Aug 2020 13:41:40 -0700 Subject: [PATCH 2/2] suggested fix to unit test --- control/tests/timeresp_test.py | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/control/tests/timeresp_test.py b/control/tests/timeresp_test.py index 93ac59e25..39bc533bf 100644 --- a/control/tests/timeresp_test.py +++ b/control/tests/timeresp_test.py @@ -204,14 +204,15 @@ def test_impulse_response(self): np.testing.assert_array_almost_equal( yy, np.vstack((youttrue, np.zeros_like(youttrue))), decimal=4) - # discrete time - self.siso_tf1 + def test_discrete_time_impulse(self): + # discrete time impulse sampled version should match cont time dt = 0.1 - sysdt = self.siso_tf1.sample(dt, 'impulse') t = np.arange(0, 3, dt) - np.testing.assert_array_almost_equal(control.impulse_response(sys, t)[1], - control.impulse_response(sysdt, t)[1]) - + 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 pFad - Phonifier reborn

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