Merge pull request #94 from murrayrm/bodefix

murrayrm · murrayrm · commit 7b07af353a64 · 2016-05-30T13:38:24.000-07:00
Bodefix
diff --git a/control/freqplot.py b/control/freqplot.py
@@ -471,7 +471,7 @@ def default_frequency_range(syslist, Hz=None, number_of_samples=None, feature_pe
 
     # Make sure there is at least one point in the range
     if (features.shape[0] == 0): 
-        features = np.array([1]);
+        features = np.array([1.]);
 
     if Hz:
         features /= 2.*np.pi
diff --git a/control/tests/freqresp.py b/control/tests/freqresp.py
diff --git a/control/tests/freqresp_test.py b/control/tests/freqresp_test.py
@@ -0,0 +1,67 @@
+#!/usr/bin/env python
+#
+# freqresp_test.py - test frequency response functions
+# RMM, 30 May 2016 (based on timeresp_test.py)
+#
+# This is a rudimentary set of tests for frequency response functions, 
+# including bode plots. 
+
+import unittest
+import numpy as np
+from control.statesp import StateSpace
+from control.matlab import ss, tf, bode
+import matplotlib.pyplot as plt
+
+class TestFreqresp(unittest.TestCase):
+   def setUp(self):
+      self.A = np.matrix('1,1;0,1')
+      self.C = np.matrix('1,0')
+      self.omega = np.linspace(10e-2,10e2,1000)
+
+   def test_siso(self):
+      B = np.matrix('0;1')
+      D = 0
+      sys = StateSpace(self.A,B,self.C,D)
+
+      # test frequency response
+      frq=sys.freqresp(self.omega)
+
+      # test bode plot
+      bode(sys)
+
+      # Convert to transfer function and test bode
+      systf = tf(sys)
+      bode(systf)
+
+   def test_doubleint(self):
+      # 30 May 2016, RMM: added to replicate typecast bug in freqresp.py
+      A = np.matrix('0, 1; 0, 0');
+      B = np.matrix('0; 1');
+      C = np.matrix('1, 0');
+      D = 0;
+      sys = ss(A, B, C, D);
+      bode(sys);
+
+   def test_mimo(self):
+      # MIMO
+      B = np.matrix('1,0;0,1')
+      D = np.matrix('0,0')
+      sysMIMO = ss(self.A,B,self.C,D)
+
+      frqMIMO = sysMIMO.freqresp(self.omega)
+      tfMIMO = tf(sysMIMO)
+
+      #bode(sysMIMO) # - should throw not implemented exception
+      #bode(tfMIMO) # - should throw not implemented exception
+      
+      #plt.figure(3)
+      #plt.semilogx(self.omega,20*np.log10(np.squeeze(frq[0])))
+
+      #plt.figure(4)
+      #bode(sysMIMO,self.omega)
+
+def suite():
+   return unittest.TestLoader().loadTestsFromTestCase(TestTimeresp)
+
+if __name__ == '__main__':
+   unittest.main()
