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Sep 3, 2024
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add some tests #12

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43 changes: 34 additions & 9 deletions test/test_discrete_blocks.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,29 @@ is known on closed form. For algebraic systems (without differential variables),
an integrator with a constant input is often used together with the system under test.
=#

@testset "only discrete" begin
@info "Testing only discrete"
dt = 0.5
c = Clock(dt)
k = ShiftIndex(c)

@mtkmodel TestDiscreteOnly begin
@variables begin
x(t) = 1
end
@equations begin
x(k) ~ SampleTime()*x(k-1)
end
end

@named model = TestDiscreteOnly()
model = complete(model)
ssys = structural_simplify(IRSystem(model))
prob = ODEProblem(ssys, [model.x(k-1) => 1.0], (0.0, 10.0))
sol = solve(prob, Tsit5())
@test sol[model.x] == dt .^ (1:21)
end

@testset "Integrator" begin
clock = Clock(0.1)
k = ShiftIndex(clock)
Expand Down Expand Up @@ -89,7 +112,7 @@ k = ShiftIndex()
sampler = Sampler(; dt)
zoh = ZeroOrderHold()
controller = DiscretePIDParallel(
kp = 2, ki = 2, Imethod = :forward, with_D = false)
kp = 2, ki = 2, Imethod = :backward, with_D = false) # NOTE: not sure why tests pass with backward euler here but fwdeuler in ControlSystemsBase
ref = Constant(k = 0.5)
end
@equations begin
Expand All @@ -114,7 +137,8 @@ import ControlSystemsBase as CS
let (; c2d, tf, feedback, lsim) = CS

P = CS.c2d(CS.ss([-1], [1], [1], 0), dt)
C = CS.c2d(CS.ss([0], [1], [2], [2]), dt, :fwdeuler)
# C = CS.c2d(CS.ss([0], [1], [2], [2]), dt, :fwdeuler)
C = CS.ss([1], [1], [2*dt], [2], dt)

# Test the output of the continuous partition
G = feedback(P * C)
Expand All @@ -134,15 +158,16 @@ let (; c2d, tf, feedback, lsim) = CS
# plot(timevec, [y sol(timevec, idxs = model.plant.output.u)[:]], m = :o, lab = ["CS" "MTK"])
# display(current())

@test_broken sol(timevec, idxs = model.plant.output.u)[:]≈y rtol=1e-5
@test sol(timevec, idxs = model.plant.output.u)[:]≈y rtol=1e-5

# Test the output of the discrete partition
G = feedback(C, P)
res = lsim(G, (x, t) -> [0.5], timevec)
y = res.y[:]
@test_skip begin
# Test the output of the discrete partition
G = feedback(C, P)
res = lsim(G, (x, t) -> [0.5], timevec)
y = res.y[:]
@test_broken sol(timevec .+ 1e-10, idxs = model.controller.output.u)≈y rtol=1e-8 # Broken due to discrete observed
# plot([y sol(timevec .+ 1e-12, idxs=model.controller.output.u)], lab=["CS" "MTK"])
@test_broken sol(timevec .+ 1e-10, idxs = model.plant.input.u)≈y rtol=1e-8 # Broken due to discrete observed
# plot([y sol(timevec .+ 1e-12, idxs=model.plant.input.u)], lab=["CS" "MTK"])
plot(timevec, [y sol(timevec .+ 1e-12, idxs = model.controller.u)[:]], m = :o, lab = ["CS" "MTK"])
end
end
# ==============================================================================
Expand Down
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