From 7095cf245905909ff0f3e68f3af0aacd0d5ba2ce Mon Sep 17 00:00:00 2001 From: bnavigator Date: Thu, 31 Dec 2020 04:23:17 +0100 Subject: [PATCH] test coverage of options for bode_plot with margins --- control/tests/freqresp_test.py | 73 ++++++++++++++++++++++------------ 1 file changed, 48 insertions(+), 25 deletions(-) diff --git a/control/tests/freqresp_test.py b/control/tests/freqresp_test.py index 1ecc88129..29c67d9af 100644 --- a/control/tests/freqresp_test.py +++ b/control/tests/freqresp_test.py @@ -120,39 +120,62 @@ def test_mimo(): tf(sysMIMO) -def test_bode_margin(): +@pytest.mark.parametrize( + "Hz, Wcp, Wcg", + [pytest.param(False, 6.0782869, 10., id="omega"), + pytest.param(True, 0.9673894, 1.591549, id="Hz")]) +@pytest.mark.parametrize( + "deg, p0, pm", + [pytest.param(False, -np.pi, -2.748266, id="rad"), + pytest.param(True, -180, -157.46405841, id="deg")]) +@pytest.mark.parametrize( + "dB, maginfty1, maginfty2, gminv", + [pytest.param(False, 1, 1e-8, 0.4, id="mag"), + pytest.param(True, 0, -1e+5, -7.9588, id="dB")]) +def test_bode_margin(dB, maginfty1, maginfty2, gminv, + deg, p0, pm, + Hz, Wcp, Wcg): """Test bode margins""" num = [1000] den = [1, 25, 100, 0] sys = ctrl.tf(num, den) plt.figure() - ctrl.bode_plot(sys, margins=True, dB=False, deg=True, Hz=False) + ctrl.bode_plot(sys, margins=True, dB=dB, deg=deg, Hz=Hz) fig = plt.gcf() allaxes = fig.get_axes() - mag_to_infinity = (np.array([6.07828691, 6.07828691]), - np.array([1., 1e-8])) - assert_allclose(mag_to_infinity, allaxes[0].lines[2].get_data()) - - gm_to_infinty = (np.array([10., 10.]), - np.array([4e-1, 1e-8])) - assert_allclose(gm_to_infinty, allaxes[0].lines[3].get_data()) - - one_to_gm = (np.array([10., 10.]), - np.array([1., 0.4])) - assert_allclose(one_to_gm, allaxes[0].lines[4].get_data()) - - pm_to_infinity = (np.array([6.07828691, 6.07828691]), - np.array([100000., -157.46405841])) - assert_allclose(pm_to_infinity, allaxes[1].lines[2].get_data()) - - pm_to_phase = (np.array([6.07828691, 6.07828691]), - np.array([-157.46405841, -180.])) - assert_allclose(pm_to_phase, allaxes[1].lines[3].get_data()) - - phase_to_infinity = (np.array([10., 10.]), - np.array([1e-8, -1.8e2])) - assert_allclose(phase_to_infinity, allaxes[1].lines[4].get_data()) + mag_to_infinity = (np.array([Wcp, Wcp]), + np.array([maginfty1, maginfty2])) + assert_allclose(mag_to_infinity, + allaxes[0].lines[2].get_data(), + rtol=1e-5) + + gm_to_infinty = (np.array([Wcg, Wcg]), + np.array([gminv, maginfty2])) + assert_allclose(gm_to_infinty, + allaxes[0].lines[3].get_data(), + rtol=1e-5) + + one_to_gm = (np.array([Wcg, Wcg]), + np.array([maginfty1, gminv])) + assert_allclose(one_to_gm, allaxes[0].lines[4].get_data(), + rtol=1e-5) + + pm_to_infinity = (np.array([Wcp, Wcp]), + np.array([1e5, pm])) + assert_allclose(pm_to_infinity, + allaxes[1].lines[2].get_data(), + rtol=1e-5) + + pm_to_phase = (np.array([Wcp, Wcp]), + np.array([pm, p0])) + assert_allclose(pm_to_phase, allaxes[1].lines[3].get_data(), + rtol=1e-5) + + phase_to_infinity = (np.array([Wcg, Wcg]), + np.array([1e-8, p0])) + assert_allclose(phase_to_infinity, allaxes[1].lines[4].get_data(), + rtol=1e-5) @pytest.fixture pFad - Phonifier reborn

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