o
    i                     @   sR  d dl Z d dlZd dlmZ d dlZd dlmZ d dlm	Z	m
Z
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$G dd dZ%G dd dZ&G dd dZ'G dd dZ(G dd dZ)G dd dZ*G d d! d!Z+dS )#    N)suppress_warnings)raises)assert_almost_equalxp_assert_equalxp_assert_close)ss2tftf2ssltidltibodefreqresplsimimpulsestepabcd_normalizeplace_polesTransferFunction
StateSpaceZerosPolesGain)BadCoefficients:0yE>c              
   C   s   |  }| D ]D}d}t|jd D ](}tt|t|gt|| t|| g||r9d}t||  nq|sJtdt	| d t	| qdS )a  
    Check each pole in P1 is close to a pole in P2 with a 1e-8
    relative tolerance or 1e-8 absolute tolerance (useful for zero poles).
    These tolerances are very strict but the systems tested are known to
    accept these poles so we should not be far from what is requested.
    Fr   TzCan't find pole z in N)
copyrangeshapenpZallcloserealimagdelete
ValueErrorstr)ZP1ZP2rtolatolp1foundZp2_idx r$   X/home/kim/smarthome/.venv/lib/python3.10/site-packages/scipy/signal/tests/test_ltisys.py_assert_poles_close   s    r&   c                   @   s<   e Zd Zdd Zdd Zdd Zdd Zejj	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    d S 1 sHw   Y  d S )NgGz?gʿg\(@gNbX9g<,Ԛg)\(r   g?gOn?d;O@gV-gOn@g~jt?r4   grh|?gE    )r   K@V-?r7   r   r   ^I+	r      皙ɿ      g}гY9gDT!KNV0methodZYTignore)invalid)r9   r9      rB   )r   arrayreshaper2   errstate)r*   r+   r,   r-   r$   r$   r%   	test_real6   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 sBw   Y  g d	}t jddd | j|||d
d W d    n1 sfw   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 sw   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 sNw   Y  t g d}t jddd | ||| W d    d S 1 suw   Y  d S )N)r      r   r   )r   r   r   竪@)r   r   r   r   r      )                          ?r@   )dividerA   )y        ưy        ư>
   i  maxiter)$iii%iiFii[iiiYiiii\ii^iciii(i~iiiiir9   iSiiigiiipii   )iiiii0i_iLi`iiiii]ii#iii"iHiii<i^iUiiiciiiR   )y      9      =y      9      =@y      ?@      Ey      ?@      E@y     @@     Dy     @@     D@)   rU   rU   )rU   rP   rP   )rO   (   2   <   F   y      4      y      4      @y      @      @y      @      )
rO   rV   rW   iiiirK   )
y      $      $@y      4      4@y      >      >@y      D      D@y      I      I@y      $      $y      4      4y      >      >y      D      Dy      I      I)r   rG   r   r   r   r   r   rH   r   r   r   r   r   r   r   r   r   r   r   rT   r   r   r   r   	   )
r   r   r   r   rI   r   r   rI   r9   rB   r9   )y            ?y                        ?            )r`   rJ   ra   rb   )	r   rC   rE   r2   rD   oneseyeZdiagr   )r*   r+   r,   r-   Zbig_AZbig_Br$   r$   r%   test_complexL   sl   

,..$zTestPlacePoles.test_complexc                 C   s   t g ddd}t g ddd}t g d}| |||}t |js,J t |js4J t d}| |||}t |jsHJ t |jsPJ |d d df dd}t d}| |||}|jdksoJ |jdksvJ d S )Nr3   r5   )r   r6   r7   r7   r   r   r8   r   rI   r9   rB   r5   rT   rS   rG      r:   )rM   rL   rJ   r`   r   rI   )r   rC   rD   r2   isnanr    nb_iter)r*   r+   r,   r-   r/   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:}t
d t||dddd}t|dksJ t|d jtsJ dt|d jv sJ |jdksJ W d    n1 sw   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   rG   r   r   r   r   r   rH   r   r   r   r   r   r   r   r   r5   )r   r   r   r   rI   r   r   rI   r9   ) 皙ffffff333333Zfoor>   rI   )rk   rl   rm   rn   rJ   )rk   rl   rm   *   r    irQ   )r`   r`   r`   r`   )r5   r5   )r5   r9   rI   r9   rB   r5   T)recordalways)rK   r`   rJ   rc   gؗҜ<)r    rR   rK   z4Convergence was not reached after maxiter iterations)rM   rL                @r`   rB   )r`   rJ   rc   )rM   rL   rt   y             r=   )r   rC   rD   assert_raisesr   r   Znewaxisrd   warningscatch_warningssimplefilterlen
issubclasscategoryUserWarningr   messageri   )r*   r+   r,   wr/   r$   r$   r%   test_errors   sT   



  

zTestPlacePoles.test_errorsN)__name__
__module____qualname__r2   rF   rf   rj   pytestmarkZthread_unsafer   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$   r%   check_matrix_shapes  s
   zTestSS2TF.check_matrix_shapesc                 C   s"   dD ]\}}}|  ||| qd S )N))rB   rB   rB   )rI   rB   rB   rI   rI   rI   )r   r   r$   r$   r%   test_shapes
  s   zTestSS2TF.test_shapesc           	      C   s   t g d}t g d}t||\}}}}t|ddgddggdd t|d	gdggdd t|d	d
ggdd t|d	ggdd t||||\}}t|d |dd t||dd d S )N)      ?      @      @)r          @r          rJ   rI   r   vIh%<=rp   r   r9   +=)r   rC   r   r   r   )	r*   bar+   r,   CDZbbZaar$   r$   r%   
test_basic  s   zTestSS2TF.test_basicc                 C   sF  d}t | \}}}}t|dggdd t|dggdd t|dggdd t|dggdd t||||\}}t|ddggdd t|ddgdd dgd	ggd
f}t | \}}}}t|dggdd t|dggdd t|dgdggdd t|dgd	ggdd t||||\}}t|ddgd	dggdd t|ddgdd d S )N)r9   rI           r   rp   r   r   r   rT   r9   rI   r   )r   r   r   r*   tfr+   r,   r   r   numdenr$   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 )%NrI   r9   r   r   rp   r   r         r   )rI   r   rI   r   )r   r   r   )r   r   r   )rI   r9   rB   rq   )r   rJ   rc   )rI   r   r   r   rI   r   r   )r   r9   rB   )r   rI   r9   rB   )r   rI   r9   rB   )r   r9   rB   r5   rB   )ZdtyperS   g      ghe99irJ   )rI   rS   rT   ru   rc   r`   )r   rI   rJ   )r   rS   rT   )r   r   r   r   rC   objectr   r$   r$   r%   test_simo_round_trip7  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   rI   )rJ   rc   r`   r   rI   )rT   rI   r   )r   r   r   r   r   r   r    r!   )r   r         @r   rp   )r   r   )r*   r+   r,   r   r   r   r   r$   r$   r%   test_all_int_arraysp  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   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   rI   r9   r   rp   r   r   )r   rC   r   r   Zvstack)r*   r+   r,   r   r   Zb_allr   Zb0Za0b1Za1b2Za2r$   r$   r%   test_multioutputy  s4   

 zTestSS2TF.test_multioutputN)
r   r   r   r   r   r   r   r   r   r   r$   r$   r$   r%   r     s    9	r   c                   @   s`   e Zd ZdZdd Zdd Zdd Zdd	 Zd
d Zdd Z	dd Z
dd Zdd Zdd ZdS )TestLsimrG   c                 G   s>   t  }|t t| }W d    |S 1 sw   Y  |S N)r   filterr   r	   )r*   argssupsystemr$   r$   r%   
lti_nowarn  s   


zTestLsim.lti_nowarnc                 C   sb   |  dddd}tdd}t|}t|||dgd\}}}t| }t|| t|| d S Nr   r   r   r   rT   X0r   r   linspace
zeros_liker   expr   r*   r   tutoutyx
expected_xr$   r$   r%   test_first_order  s   

zTestLsim.test_first_orderc                 C   sr   t ddd}t |}| dgg d}t|||ddgd\}}}d| t |  }t|d d df | d S )Nr   rP   i  r   r   r   r   r   r   )r   r   r   r   r   r   r   )r*   r   r   r   r   r   r   r   r$   r$   r%   test_second_order  s   
zTestLsim.test_second_orderc                 C   sb   |  dddd}tdd}|}t|||\}}}d|d  }t||| jd t||| jd d S )Nr   r   r   rT         ?r9   decimal)r   r   r   r   r   digits_accuracyr   r$   r$   r%   test_integrator  s   zTestLsim.test_integratorc                 C      t ddgddgg}t ddgddgg}t ddg}t d}| ||||}t ddd}t t|d	f}t|||ddgd
\}}	}
t | }t | }t d| }t|	| t|
d d df | t|
d d df | d S )Nr   r   r   r   rI   r9   r   g      $@   r9   )UTr   rI   	r   rC   r   r   r   rz   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   rT   r   r9   r   )	r   rC   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   rC   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   r   )Nr   r   r   r   r   r   r   e   r9   r   rI   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   rI   r9   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   st   t g d}t g d}dgddgf}ttdd t|||dgd\}}}W d    d S 1 s3w   Y  d S )N)r   r   r   r   )r   r   r   r   r   r   z"Time steps are not equally spaced.)matchr   )r   rC   rv   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$   r%   r     s    
r   c                   @   L   e Zd Zdd Zdd Zdd Zdd Zd	d
 Zdd Zdd Z	dd Z
dS )TestImpulsec                 C   s4   dgddgf}t |\}}t| }t|| d S Nr   r   r   r   r   r*   r   r   r   r   r$   r$   r%   r     s   zTestImpulse.test_first_orderc                 C   sd   dgddgf}d}t dd|}t||d\}}|j|fks J t|| t | }t|| d S )Nr   r   r   r   r   )r   r   r   r   r   r   r*   r   nr   r   r   r   r$   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$   r%   test_first_order_initial5  s   z$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   I  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   P  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   rB   rT   rS   r   r   r   r*   r   r   r   r$   r$   r%   test_array_likeY  s   zTestImpulse.test_array_likec                 C   s$   dgg df}t |ddd\}}d S )Nr   r   rB   rT   r   r   r   r$   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                   @   r   )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   f  s   zTestStep.test_first_orderc                 C   sh   dgddgf}d}t dd|}t||d\}}|j|fks J t|| dt |  }t|| d S )Nr   r   r   r   r   rI   )r   r   r   r   r   r   r   r$   r$   r%   r   n  s   
z$TestStep.test_first_order_fixed_timec                 C   s@   dgddgf}t |dd\}}ddt|   }t|| d S Nr   r   r   rI   r   r   r   r$   r$   r%   r   |  s   z!TestStep.test_first_order_initialc                 C   sB   dgddgf}t |dgd\}}ddt|   }t|| d S r   r   r   r$   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$   r%   r     s   zTestStep.test_integratorc                 C   s@   dgg df}t |\}}dd| t|   }t|| d S )Nr   r   rI   r   r   r$   r$   r%   r     s   zTestStep.test_second_orderc                 C   s&   dgg df}t |ddgd\}}d S )Nr   r   rT   rS   r   r   r   r$   r$   r%   r     s   zTestStep.test_array_likec                 C   s   t g dgdf d S )NrK   y      ?        r   r*   r$   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   e  s    

	r   c                   @   s   e Zd Zdd ZdS )TestLtic                 C   s   t dgdg}t|tsJ t|t sJ t|trJ |jd u s#J t tg tdgd}t|ts7J t|t s>J t|trEJ |jd u sLJ t g dgd}t dgdgdd}t|tscJ t|t sjJ t|trqJ |jd u sxJ d S )NrI   rK   rB   )	r	   
isinstancer   r
   dtr   rC   r   r   r*   sr$   r$   r%   test_lti_instantiation  s    zTestLti.test_lti_instantiationN)r   r   r   r   r$   r$   r$   r%   r     s    r   c                   @   s,   e Zd Zdd Zdd Zdd Zdd Zd	S )
TestStateSpacec                 C   sl   t dddd t dgdgdgdg t tddgddggtdgdggtddggtdgg d S )NrI   r9   rB   r5   r   )r   r   rC   r   r$   r$   r%   test_initialization  s
   &z"TestStateSpace.test_initializationc                 C   sh   t dddd}t| t sJ t| tsJ t| ts"J t ||us*J | |us2J d S )NrI   r9   rB   r5   )r   r   to_ssto_tfr   to_zpkr   r   r$   r$   r%   test_conversion  s   zTestStateSpace.test_conversionc                 C   s<   t dddd}t|jdg t|jdg |jd u sJ d S )NrI   r   r   )r   r   polesr   r   r   r$   r$   r%   test_properties  s   zTestStateSpace.test_propertiesc              	   C   s  G dd d}t tddgddggtdgdggtddggtdgg}t td	d
gdd
ggtdgdggtddggtdgg}|d}|d}|d}tddd}t|}d|d< ttttj	tj
tjfD ]m}	tt|	d| ||dd |	dt|||dd   tt||	d ||dd t|||dd |	d  tt||	d ||dd t|||dd |	d  tt |	d|  W d    n1 sw   Y  qutt|d ||dd t|d| |dd  tt|| ||dd t|t|||dd |dd dd tt ||  W d    n	1 s,w   Y  tt ||  W d    n	1 sEw   Y  tt ||  W d    n	1 s^w   Y  tt ||   W d    n	1 sxw   Y  tt | |  W d    n	1 sw   Y  tt ||   W d    n	1 sw   Y  tt | |  W d    n	1 sw   Y  tt|d ||dd d| t|||dd   tt |tddg  W d    n	1 sw   Y  tt tddg|  W d    n	1 sw   Y  tt ||  W d    n	1 s4w   Y  tt |tddgddgg  W d    n	1 sVw   Y  tt ||  W d    n	1 sow   Y  tt ||   W d    n	1 sw   Y  tt | |  W d    n	1 sw   Y  tt|| ||dd t|||dd t|||dd   tt|d ||dd d| t|||dd   ttd| ||dd d| t| ||dd   tt|| ||dd t|||dd t|||dd   tt ||   W d    n	1 s,w   Y  tt | |  W d    n	1 sFw   Y  || }
|
jdksWJ || }
|
jdkscJ d| }
|
jdksoJ | }
|
jdkszJ d S )Nc                   @   s   e Zd ZdS )z.TestStateSpace.test_operators.<locals>.BadTypeN)r   r   r   r$   r$   r$   r%   BadType  s    r  r<   gffffff?r   grI   r   r;   gg?皙?g?d   r9   )r   r   gh㈵>)r!   rB   r5   r`   )r   r   rC   Zto_discreter   r   intfloatcomplexZfloat32Z
complex128r   r   rv   	TypeErrorr   r   )r*   r  s1s2Z
s_discreteZs2_discreteZs3_discreter   r   typr   r$   r$   r%   test_operators  s   























""

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 NrI   r9   )r   r   rC   r   r$   r$   r%   r   h  s   
z(TestTransferFunction.test_initializationc                 C   sl   t ddgddg}t| tsJ t| t sJ t| ts$J t ||us,J | |us4J d S )NrI   r   rK   )r   r   r   r   r   r   r   r   r$   r$   r%   r   n  s   z$TestTransferFunction.test_conversionc                 C   s2   t ddgddg}t|jdg t|jdg d S )NrI   r   rK   r   r   )r   r   r   r   r   r$   r$   r%   r   y  s   z$TestTransferFunction.test_propertiesN)r   r   r   r   r   r   r$   r$   r$   r%   r  g  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   rC   r   r$   r$   r%   r     s    z&TestZerosPolesGain.test_initializationc                 C   sf   t ddd}t| tsJ t| tsJ t| t s!J t ||us)J | |us1J d S )NrI   r9   rB   )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   rC   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   )rv   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 )NrI   rK   )rv   r   r   r,   r   r   r   r$   r$   r%   test_A_nosquare_fails  s   z)Test_abcd_normalize.test_A_nosquare_failsc                 C       t tt| jddg| j| j d S NrK   rT   rv   r   r   r+   r   r   r   r$   r$   r%   test_AB_mismatch_fails     z*Test_abcd_normalize.test_AB_mismatch_failsc                 C   s$   t tt| j| jdgdgg| j d S )Nr   r   )rv   r   r   r+   r,   r   r   r$   r$   r%   test_AC_mismatch_fails  s   z*Test_abcd_normalize.test_AC_mismatch_failsc                 C   s    t tt| j| j| jddg d S )Nr  r   )rv   r   r   r+   r,   r   r   r$   r$   r%   test_CD_mismatch_fails  s   
z*Test_abcd_normalize.test_CD_mismatch_failsc                 C   r  r  r  r   r$   r$   r%   test_BD_mismatch_fails  r  z*Test_abcd_normalize.test_BD_mismatch_failsc                 C   sR   t | j| j| j| j\}}}}t|| j t|| j t|| j t|| j d S r   )r   r+   r,   r   r   r   r*   r+   r,   r   r   r$   r$   r%   "test_normalized_matrices_unchanged  s
   z6Test_abcd_normalize.test_normalized_matrices_unchangedc                 C   s   t | j| jddgd\}}}}t|jd |jd  t|jd |jd  t|jd |jd  t|jd |jd  t|jd |jd  d S )NrI   r   )r   r+   r,   r   r   r  r$   r$   r%   r     s   zTest_abcd_normalize.test_shapesc                 C   s   t d}t d}t| j||d\}}}}t|| j t|| t|| |jd |jd ks2J |jd | jjd ks?J d S )Nr9   r   )r   r   r+   r,   r   r   rI   r   r   r   r+   r   r   )r*   B_ZD_r+   r,   r   r   r$   r$   r%    test_zero_dimension_is_not_none1  s   



z4Test_abcd_normalize.test_zero_dimension_is_not_none1c                 C   s   t d}t d}t| j||d\}}}}t|| j t|| t|| |jd |jd ks2J |jd |jd ks>J d S )Nr  )r   r9   r+   r,   r   r   rI   r   )r*   r!  ZC_r+   r,   r   r   r$   r$   r%    test_zero_dimension_is_not_none2  s   



z4Test_abcd_normalize.test_zero_dimension_is_not_none2c                 C   sr   t | j| j| jd\}}}}|jd |jd ksJ |jd |jd ks&J |j| jjd | jjd fks7J d S )N)r,   r   r   r   rI   )r   r,   r   r   r   r  r$   r$   r%   test_missing_A     &z"Test_abcd_normalize.test_missing_Ac                 C   sr   t | j| j| jd\}}}}|jd |jd ksJ |jd |jd ks&J |j| jjd | jjd fks7J d S )N)r+   r   r   r   rI   )r   r+   r   r   r   r  r$   r$   r%   test_missing_B  r&  z"Test_abcd_normalize.test_missing_Bc                 C   sr   t | j| j| jd\}}}}|jd |jd ksJ |jd |jd ks&J |j| jjd | jjd fks7J d S )Nr  r   rI   )r   r+   r,   r   r   r  r$   r$   r%   test_missing_C  r&  z"Test_abcd_normalize.test_missing_Cc                 C   sr   t | j| j| jd\}}}}|jd |jd ksJ |jd |jd ks&J |j| jjd | jjd fks7J d S )Nr#  r   rI   )r   r+   r,   r   r   r  r$   r$   r%   test_missing_D  r&  z"Test_abcd_normalize.test_missing_Dc                 C   s   t | j| jd\}}}}|jd |jd ksJ |jd |jd ks$J |jd |jd ks0J |j| jjd | jjd fksAJ |j| jjd | jjd fksRJ d S )N)r   r   r   rI   )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\}}}}|jd |jd ksJ |jd |jd ks$J |jd |jd ks0J |jd |jd ks<J |j| jjd | jjd fksMJ |j| jjd | jjd fks^J d S )N)r,   r   r   rI   )r   r,   r   r   r  r$   r$   r%   test_missing_AC     "&z#Test_abcd_normalize.test_missing_ACc                 C   s   t | j| jd\}}}}|jd |jd ksJ |jd |jd ks$J |jd |jd ks0J |jd |jd ks<J |j| jjd | jjd fksMJ |j| jjd | jjd fks^J d S )N)r,   r   r   rI   )r   r,   r   r   r  r$   r$   r%   test_missing_AD   r,  z#Test_abcd_normalize.test_missing_ADc                 C   s   t | j| jd\}}}}|jd |jd ksJ |jd |jd ks$J |jd |jd ks0J |jd s<J |jd |j| jjd | jjd fksMJ |j| jjd | jjd fks^J d S )N)r+   r   r   rI   )r   r+   r   r   r  r$   r$   r%   test_missing_BC	  r,  z#Test_abcd_normalize.test_missing_BCc                 C   s   t tt| jd d S )N)r   )rv   r   r   r   r   r$   r$   r%   test_missing_ABC_fails  s   z*Test_abcd_normalize.test_missing_ABC_failsc                 C      t tt| j| jd d S )N)r+   r   )rv   r   r   r+   r   r   r$   r$   r%   test_missing_BD_fails     z)Test_abcd_normalize.test_missing_BD_failsc                 C   r0  )N)r+   r,   )rv   r   r   r+   r,   r   r$   r$   r%   test_missing_CD_fails  r2  z)Test_abcd_normalize.test_missing_CD_failsN)r   r   r   r  r  r  r  r  r  r  r  r   r"  r$  r%  r'  r(  r)  r*  r+  r-  r.  r/  r1  r3  r$   r$   r$   r%   r    s.    

			r  c                   @   sT   e Zd Zdd Zdd Zdd Zdd Zd	d
 Zdd Zdd Z	dd Z
dd ZdS )	Test_bodec                 C   sD   t dgddg}g d}t||d\}}}g d}t||dd d S )NrI   r  rI   rP   r  r   )r   rJ   rV   r\   r   r	   r   r   )r*   r   r   magphaseexpected_magr$   r$   r%   test_01  s
   zTest_bode.test_01c                 C   sD   t dgddg}g d}t||d\}}}g d}t||dd d S )NrI   r  rI   rP   r6  )gig33333Ur   r7  )r*   r   r   r8  r9  expected_phaser$   r$   r%   test_02,  s
   zTest_bode.test_02c                 C   sn   t dgddg}g d}t||d\}}}|d }t|j|t|j| }dtt| }t|| d S )NrI   r5  r6                ?g      4@)	r	   r   r   polyvalr   r   log10absr   )r*   r   r   r8  r9  jwr   r:  r$   r$   r%   test_038  s   zTest_bode.test_03c                 C   sv   t dgddg}g d}t||d\}}}|d }t|j|t|j| }t|j|jd tj	 }t
|| d S )NrI   r5  r6  r?  g     f@)r	   r   r   r@  r   r   Zarctan2r   r   pir   )r*   r   r   r8  r9  rC  r   r=  r$   r$   r%   test_04C  s   zTest_bode.test_04c                 C   sB   t dgddg}d}tdd|}t||d\}}}t|| d S NrI   rP   r`   r   )r	   r   logspacer   r   )r*   r   r   
expected_wr   r8  r9  r$   r$   r%   test_05N  s
   zTest_bode.test_05c                 C   s6   t dgddg}t|dd\}}}|d dksJ d S NrI   r   r9   rH  g{Gz?r	   r   r*   r   r   r8  r9  r$   r$   r%   test_06X  s   zTest_bode.test_06c                 C   s&   t dgg d}t|dd\}}}d S )NrI   )rI   r   r  r9   rH  rM  rN  r$   r$   r%   test_07_  s   zTest_bode.test_07c                 C   sB   t g g dd}|jtdddd\}}}tt|ddd	 d S )
N)rO   rW   r\   r]   r^   rI   rJ   rX   r  r6  i>   r   )r	   r   r   rI  r   minrN  r$   r$   r%   test_08e  s   zTest_bode.test_08c              	   C   s   t g d}t|j}t dgdgdgg}t g dg}t dgg}t }|t t||||}t	|dd\}}	}
W d    n1 sJw   Y  dt 
t dd|d    }t|	| d S )	Nr   r   r   r   r   r   r   r   r   r  rH     rS   )r   rC   r(   	companionr   r   r   r   r	   r   rA  sqrtr   )r*   r   r+   r,   r   r   r   r   r   r8  r9  Zexpected_magnituder$   r$   r%   test_from_state_spacek  s   
 zTest_bode.test_from_state_spaceN)r   r   r   r;  r>  rD  rF  rK  rO  rP  rS  rY  r$   r$   r$   r%   r4    s    
r4  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 )NrI   r<  r6  )gGz?r   gׁsF?)MbXr<   r[  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 )NrI   r5  r6  r?  )	r	   r   r   r@  r   r   r   r   r   r*   r   r   r]  r   r0   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 rG  )r	   r   rI  r   r   )r*   r   r   rJ  r   r]  r$   r$   r%   test_freq_range  s
   zTest_freqresp.test_freq_rangec                 C   s4   t dgddg}t|dd\}}|d dksJ d S rL  )r	   r   )r*   r   r   r]  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 }|t t||||}t	|dd\}}	W d    n1 sIw   Y  |d }
ddd|
  d|
d   |
d	   }t
|	j|j t
|	j|j d S )
NrT  r   r   rU  r  rH  r?  r9   rB   )r   rC   r(   rW  r   r   r   r   r	   r   r   r   r   )r*   r   r+   r,   r   r   r   r   r   r]  r   r0   r$   r$   r%   rY    s   
$z#Test_freqresp.test_from_state_spacec                 C   sd   t g dgd dg}g d}t||d\}}|d }d|d d  }t|j|j t|j|j d S )NrK   r5   rI   r5  r6  r?  r\  r_  r$   r$   r%   test_from_zpk  s   zTest_freqresp.test_from_zpkN)	r   r   r   r^  r`  ra  rb  rY  rc  r$   r$   r$   r%   rZ    s    
rZ  )r   r   ),rw   numpyr   Znumpy.testingr   r   r   rv   Zscipy._lib._array_apir   r   r   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  r4  rZ  r$   r$   r$   r%   <module>   s4    @
 [ ~GI  d