tester.py

import control as c
from control.xferfcn import clean_tf
from control.statesp import clean_ss
from control.timeresp import fival
import numpy as np

ci = 2 / np.sqrt(13)
w = np.sqrt(13)
Kq = -24
T02 = 1.4
V = 160
s = c.tf([1, 0], [1])
Hq = Kq * (1 + T02 * s) / (s ** 2 + 2 * ci * w * s + w ** 2)
Htheta = Hq / s
Hgamma = Kq / s / (s ** 2 + 2 * ci * w * s + w ** 2)
Hh = Hgamma * V / s
H = c.tf([[Hq.num[0][0], Htheta.num[0][0]], [Hgamma.num[0][0], Hh.num[0][0]]],
         [[Hq.den[0][0], Htheta.den[0][0]], [Hgamma.den[0][0], Hh.den[0][0]]])
sys1 = c.ss(H)
sys1.D = np.array([[1, 2], [3e-13, 4]])  # Changes it to a non-zero input matrix D

H = c.tf(sys1)  # Gives a tf with nice unrounded residual components

H2 = c.tf([1, -3, 0, 0], [1, 1e-13, 7, 0, 0, 0])  # to test minreal things

print(H.clean())
#print(sys1)
#print(H.clean(input = 1, output = 2, precision = 9))
#print(sys1.clean(precision = 12))
#print(clean_tf(sys1, input = 1, output = 2, precision = 1))
#print(clean_tf(H, input = 2, output = 2, precision = 8))
#print(clean_ss(sys1, precision = 2))
#print(clean_ss(H, precision = 12))
print(H.fival(forcing="step", input=1, output=1, stabilityCheck=True))
print(sys1.fival(forcing="step", input=2, stabilityCheck=True, precision=17))
print(fival(H, forcing="step", output=2, stabilityCheck=True, precision=3))
print(fival(sys1, forcing="step", input=2, output=2, precision=10))