diff --git a/control/tests/kwargs_test.py b/control/tests/kwargs_test.py
index 598a8ccca..855bb9dda 100644
--- a/control/tests/kwargs_test.py
+++ b/control/tests/kwargs_test.py
@@ -75,79 +75,74 @@ def test_kwarg_search(module, prefix):
test_kwarg_search(obj, prefix + obj.__name__ + '.')
-@pytest.mark.usefixtures('editsdefaults')
-def test_unrecognized_kwargs():
+@pytest.mark.parametrize(
+ "function, nsssys, ntfsys, moreargs, kwargs",
+ [(control.dlqe, 1, 0, ([[1]], [[1]]), {}),
+ (control.dlqr, 1, 0, ([[1, 0], [0, 1]], [[1]]), {}),
+ (control.drss, 0, 0, (2, 1, 1), {}),
+ (control.input_output_response, 1, 0, ([0, 1, 2], [1, 1, 1]), {}),
+ (control.lqe, 1, 0, ([[1]], [[1]]), {}),
+ (control.lqr, 1, 0, ([[1, 0], [0, 1]], [[1]]), {}),
+ (control.linearize, 1, 0, (0, 0), {}),
+ (control.pzmap, 1, 0, (), {}),
+ (control.rlocus, 0, 1, ( ), {}),
+ (control.root_locus, 0, 1, ( ), {}),
+ (control.rss, 0, 0, (2, 1, 1), {}),
+ (control.set_defaults, 0, 0, ('control',), {'default_dt': True}),
+ (control.ss, 0, 0, (0, 0, 0, 0), {'dt': 1}),
+ (control.ss2io, 1, 0, (), {}),
+ (control.ss2tf, 1, 0, (), {}),
+ (control.summing_junction, 0, 0, (2,), {}),
+ (control.tf, 0, 0, ([1], [1, 1]), {}),
+ (control.tf2io, 0, 1, (), {}),
+ (control.tf2ss, 0, 1, (), {}),
+ (control.InputOutputSystem, 0, 0, (),
+ {'inputs': 1, 'outputs': 1, 'states': 1}),
+ (control.InputOutputSystem.linearize, 1, 0, (0, 0), {}),
+ (control.StateSpace, 0, 0, ([[-1, 0], [0, -1]], [[1], [1]], [[1, 1]], 0), {}),
+ (control.TransferFunction, 0, 0, ([1], [1, 1]), {})]
+)
+def test_unrecognized_kwargs(function, nsssys, ntfsys, moreargs, kwargs,
+ mplcleanup, editsdefaults):
+ # Create SISO systems for use in parameterized tests
+ sssys = control.ss([[-1, 1], [0, -1]], [[0], [1]], [[1, 0]], 0, dt=None)
+ tfsys = control.tf([1], [1, 1])
+
+ args = (sssys, )*nsssys + (tfsys, )*ntfsys + moreargs
+
+ # Call the function normally and make sure it works
+ function(*args, **kwargs)
+
+ # Now add an unrecognized keyword and make sure there is an error
+ with pytest.raises(TypeError, match="unrecognized keyword"):
+ function(*args, **kwargs, unknown=None)
+
+
+@pytest.mark.parametrize(
+ "function, nsysargs, moreargs, kwargs",
+ [(control.bode, 1, (), {}),
+ (control.bode_plot, 1, (), {}),
+ (control.describing_function_plot, 1,
+ (control.descfcn.saturation_nonlinearity(1), [1, 2, 3, 4]), {}),
+ (control.gangof4, 2, (), {}),
+ (control.gangof4_plot, 2, (), {}),
+ (control.nyquist, 1, (), {}),
+ (control.nyquist_plot, 1, (), {}),
+ (control.singular_values_plot, 1, (), {})]
+)
+def test_matplotlib_kwargs(function, nsysargs, moreargs, kwargs, mplcleanup):
# Create a SISO system for use in parameterized tests
sys = control.ss([[-1, 1], [0, -1]], [[0], [1]], [[1, 0]], 0, dt=None)
- table = [
- [control.dlqe, (sys, [[1]], [[1]]), {}],
- [control.dlqr, (sys, [[1, 0], [0, 1]], [[1]]), {}],
- [control.drss, (2, 1, 1), {}],
- [control.input_output_response, (sys, [0, 1, 2], [1, 1, 1]), {}],
- [control.lqe, (sys, [[1]], [[1]]), {}],
- [control.lqr, (sys, [[1, 0], [0, 1]], [[1]]), {}],
- [control.linearize, (sys, 0, 0), {}],
- [control.pzmap, (sys,), {}],
- [control.rlocus, (control.tf([1], [1, 1]), ), {}],
- [control.root_locus, (control.tf([1], [1, 1]), ), {}],
- [control.rss, (2, 1, 1), {}],
- [control.set_defaults, ('control',), {'default_dt': True}],
- [control.ss, (0, 0, 0, 0), {'dt': 1}],
- [control.ss2io, (sys,), {}],
- [control.ss2tf, (sys,), {}],
- [control.summing_junction, (2,), {}],
- [control.tf, ([1], [1, 1]), {}],
- [control.tf2io, (control.tf([1], [1, 1]),), {}],
- [control.tf2ss, (control.tf([1], [1, 1]),), {}],
- [control.InputOutputSystem, (),
- {'inputs': 1, 'outputs': 1, 'states': 1}],
- [control.InputOutputSystem.linearize, (sys, 0, 0), {}],
- [control.StateSpace, ([[-1, 0], [0, -1]], [[1], [1]], [[1, 1]], 0), {}],
- [control.TransferFunction, ([1], [1, 1]), {}],
- ]
-
- for function, args, kwargs in table:
- # Call the function normally and make sure it works
- function(*args, **kwargs)
-
- # Now add an unrecognized keyword and make sure there is an error
- with pytest.raises(TypeError, match="unrecognized keyword"):
- function(*args, **kwargs, unknown=None)
-
- # If we opened any figures, close them to avoid matplotlib warnings
- if plt.gca():
- plt.close('all')
-
-
-def test_matplotlib_kwargs():
- # Create a SISO system for use in parameterized tests
- sys = control.ss([[-1, 1], [0, -1]], [[0], [1]], [[1, 0]], 0, dt=None)
- ctl = control.ss([[-1, 1], [0, -1]], [[0], [1]], [[1, 0]], 0, dt=None)
-
- table = [
- [control.bode, (sys, ), {}],
- [control.bode_plot, (sys, ), {}],
- [control.describing_function_plot,
- (sys, control.descfcn.saturation_nonlinearity(1), [1, 2, 3, 4]), {}],
- [control.gangof4, (sys, ctl), {}],
- [control.gangof4_plot, (sys, ctl), {}],
- [control.nyquist, (sys, ), {}],
- [control.nyquist_plot, (sys, ), {}],
- [control.singular_values_plot, (sys, ), {}],
- ]
-
- for function, args, kwargs in table:
- # Call the function normally and make sure it works
- function(*args, **kwargs)
-
- # Now add an unrecognized keyword and make sure there is an error
- with pytest.raises(AttributeError, match="has no property"):
- function(*args, **kwargs, unknown=None)
-
- # If we opened any figures, close them to avoid matplotlib warnings
- if plt.gca():
- plt.close('all')
+ # Call the function normally and make sure it works
+ args = (sys, )*nsysargs + moreargs
+ function(*args, **kwargs)
+
+ # Now add an unrecognized keyword and make sure there is an error
+ with pytest.raises(AttributeError,
+ match="(has no property|unexpected keyword)"):
+ function(*args, **kwargs, unknown=None)
+
#
diff --git a/control/tests/passivity_test.py b/control/tests/passivity_test.py
index 4c95c96b9..6cee1bdb6 100644
--- a/control/tests/passivity_test.py
+++ b/control/tests/passivity_test.py
@@ -1,5 +1,5 @@
'''
-Author: Mark Yeatman
+Author: Mark Yeatman
Date: May 30, 2022
'''
import pytest
@@ -99,20 +99,17 @@ def test_system_dimension():
@pytest.mark.parametrize(
- "test_input,expected",
+ "systemmatrices, expected",
[((A, B, C, D*0.0), True),
((A_d, B, C, D), True),
- ((A*1e12, B, C, D*0), True),
+ pytest.param((A*1e12, B, C, D*0), True,
+ marks=pytest.mark.xfail(reason="gh-761")),
((A, B*0, C*0, D), True),
((A*0, B, C, D), True),
((A*0, B*0, C*0, D*0), True)])
-def test_ispassive_edge_cases(test_input, expected):
- A = test_input[0]
- B = test_input[1]
- C = test_input[2]
- D = test_input[3]
- sys = ss(A, B, C, D)
- assert(passivity.ispassive(sys) == expected)
+def test_ispassive_edge_cases(systemmatrices, expected):
+ sys = ss(*systemmatrices)
+ assert passivity.ispassive(sys) == expected
def test_rho_and_nu_are_none():
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