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Fix some test warnings #617

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Merged
merged 1 commit into from
Jan 27, 2022
Merged

Fix some test warnings #617

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5 changes: 2 additions & 3 deletions test/test_connections.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -173,10 +173,9 @@ arr4[1] = ss(0); arr4[2] = ss(1); arr4[3] = ss(2)
@test [C_111 1.0] == ss([1.0], [2.0 0.0], [3.0], [4.0 1.0])
@test [1.0 C_111] == ss([1.0], [0.0 2.0], [3.0], [1.0 4.0])
@test [C_111 1.0] isa StateSpace{Continuous,Float64}
@test [C_111 1.0].Ts == 0.0
@test_logs (:warn,
@test (@test_logs (:warn,
"Getting time 0.0 for non-discrete systems is deprecated. Check `isdiscrete` before trying to access time."
) [C_111 1.0].Ts
) [C_111 1.0].Ts) == 0.0
# Concatenation of discrete system with matrix
@test [D_222 fill(1.5, 2, 2)] == [D_222 ss(fill(1.5, 2, 2),0.005)]
@test [C_222 fill(1.5, 2, 2)] == [C_222 ss(fill(1.5, 2, 2))]
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4 changes: 2 additions & 2 deletions test/test_freqresp.jl
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Expand Up @@ -11,8 +11,8 @@ G = ss([-5 0 0 0; 0 -1 -2.5 0; 0 4 0 0; 0 0 0 -6], [2 0; 0 1; 0 0; 0 2],
@test evalfr(H, -1) == [0.0 -0.3; 0.0 0.4]
@test evalfr(H, 0) ≈ [0.0 0.0; 0.2 1/3]

@test evalfr(G, -6) == [Inf Inf; Inf Inf]
@test evalfr(G, -5) == [Inf Inf; Inf Inf]
@test (@test_logs (:warn, "Got exception SingularException(4), returning Inf") evalfr(G, -6)) == [Inf Inf; Inf Inf]
@test (@test_logs (:warn, "Got exception SingularException(1), returning Inf") evalfr(G, -5)) == [Inf Inf; Inf Inf]
@test evalfr(G, -1) ≈ [0.0 -0.3; 0.0 0.4]
@test evalfr(G, 0) ≈ [0.0 0.0; 0.2 1/3]

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10 changes: 5 additions & 5 deletions test/test_timeresp.jl
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Expand Up @@ -10,15 +10,15 @@ Q = I # eye(2)
R = I # eye(1)
L = lqr(sys,Q,R)

u(x,i) = -L*x # Form control law
u1(x,i) = -L*x # Form control law
t=0:0.1:50
x0 = [1.,0]
y, t, x, uout = lsim(sys,u,t,x0=x0) # Continuous time
y, t, x, uout = lsim(sys,u1,t,x0=x0) # Continuous time

th = 1e-6
@test sum(abs.(x[:,end])) < th

y, t, x, uout = lsim(c2d(sys,0.1),u,t,x0=x0) # Discrete time
y, t, x, uout = lsim(c2d(sys,0.1),u1,t,x0=x0) # Discrete time
@test sum(abs.(x[:,end])) < th

#Do a manual simulation with uout
Expand Down Expand Up @@ -83,8 +83,8 @@ G2 = ss(1.0im, 1, 1, 0, 1)

# Test that the discrete lsim accepts u function that returns scalar
L = lqr(sysd,Q,R)
u(x,i) = -L*x
yd, td, xd = lsim(sysd, u, t, x0=x0)
u2(x,i) = -L*x
yd, td, xd = lsim(sysd, u2, t, x0=x0)
@test norm(y - yd)/norm(y) < 0.05 # Since the cost matrices are not discretized, these will differ a bit
@test norm(x - xd)/norm(x) < 0.05

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