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| author | Shashank | 2017-05-29 12:40:26 +0530 |
|---|---|---|
| committer | Shashank | 2017-05-29 12:40:26 +0530 |
| commit | 0345245e860375a32c9a437c4a9d9cae807134e9 (patch) | |
| tree | ad51ecbfa7bcd3cc5f09834f1bb8c08feaa526a4 /modules/cacsd/tests | |
| download | scilab_for_xcos_on_cloud-0345245e860375a32c9a437c4a9d9cae807134e9.tar.gz scilab_for_xcos_on_cloud-0345245e860375a32c9a437c4a9d9cae807134e9.tar.bz2 scilab_for_xcos_on_cloud-0345245e860375a32c9a437c4a9d9cae807134e9.zip | |
CMSCOPE changed
Diffstat (limited to 'modules/cacsd/tests')
164 files changed, 8521 insertions, 0 deletions
diff --git a/modules/cacsd/tests/nonreg_tests/bug_10370.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_10370.dia.ref new file mode 100755 index 000000000..a3eafa7ec --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_10370.dia.ref @@ -0,0 +1,25 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2012 - DIGITEO - Allan CORNET +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// <-- CLI SHELL MODE --> +// +// <-- Non-regression test for bug 10370 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=10370 +// +// <-- Short Description --> +// ss2tf returned a wrong value on Windows 64 bit +A2 = [0 1 0 + 1 0 1 + 0 0 -1]; +B2 = [0;0;10.523]; +C2 = [1 0 0]; +sl2 = syslin('c', A2,B2,C2); +G2 = clean(ss2tf(sl2)); +REF = 10.523/ (-1 -%s + (%s*%s) + (%s*%s*%s)); +assert_checkalmostequal(coeff(G2(2)), coeff(REF(2))); +assert_checkalmostequal(coeff(G2(3)), coeff(REF(3))); diff --git a/modules/cacsd/tests/nonreg_tests/bug_10370.tst b/modules/cacsd/tests/nonreg_tests/bug_10370.tst new file mode 100755 index 000000000..b7fea6f80 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_10370.tst @@ -0,0 +1,29 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2012 - DIGITEO - Allan CORNET +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +// <-- CLI SHELL MODE --> +// +// <-- Non-regression test for bug 10370 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=10370 +// +// <-- Short Description --> +// ss2tf returned a wrong value on Windows 64 bit + + +A2 = [0 1 0 + 1 0 1 + 0 0 -1]; +B2 = [0;0;10.523]; +C2 = [1 0 0]; + +sl2 = syslin('c', A2,B2,C2); +G2 = clean(ss2tf(sl2)); +REF = 10.523/ (-1 -%s + (%s*%s) + (%s*%s*%s)); +assert_checkalmostequal(coeff(G2(2)), coeff(REF(2))); +assert_checkalmostequal(coeff(G2(3)), coeff(REF(3))); diff --git a/modules/cacsd/tests/nonreg_tests/bug_11092.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_11092.dia.ref new file mode 100755 index 000000000..001b8b840 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_11092.dia.ref @@ -0,0 +1,43 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2012 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// <-- CLI SHELL MODE --> +// <-- ENGLISH IMPOSED --> +// +// +// <-- Non-regression test for bug 11092 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=11092 +// +// <-- Short Description --> +//Incorrect argument check in h_inf +G=syslin("c",1/%s^3); +[P,r]=macglov(G); +assert_checktrue(execstr("[K,ro]=h_inf(P,r,0,1,30)","errcatch")==0); +h_inf: P22 is stabilizable. +h_inf: P22 is detectable. + gama = 1.4142135624 Unfeasible (Hx hamiltonian) test = 0.30000E+01 + gama = 2.0000000000 Unfeasible (Hx hamiltonian) test = 0.15613E+01 + gama = 2.8284271247 Unfeasible (Hx hamiltonian) test = 0.13582E+01 + gama = 4.0000000000 Unfeasible (Hx hamiltonian) test = 0.20258E+01 + gama = 5.6568542495 Unfeasible (Hx hamiltonian) test = 0.16526E+02 + gama = 5.8423739467 Unfeasible (Hx hamiltonian) test = 0.60242E+02 + gama = 5.8916775545 Unfeasible (Hx hamiltonian) test = 0.19635E+03 + gama = 5.9041997314 Unfeasible (Hx hamiltonian) test = 0.45849E+03 + gama = 5.9104908357 Unfeasible (Hx hamiltonian) test = 0.13893E+04 + gama = 5.9120667565 Unfeasible (Hx hamiltonian) test = 0.28256E+04 + gama = 5.9128551898 Unfeasible (Hx hamiltonian) test = 0.58522E+04 + gama = 5.9132495247 Unfeasible (Hx hamiltonian) test = 0.12603E+05 + gama = 5.9134467218 Unfeasible (Hx hamiltonian) test = 0.29787E+05 + gama = 5.9135453277 Unfeasible (Hx hamiltonian) test = 0.93598E+05 + gama = 5.9135699799 Unfeasible (Hx hamiltonian) test = 0.20153E+06 + gama = 5.9135823062 Unfeasible (Hx hamiltonian) test = 0.47597E+06 + gama = 5.9135884693 Unfeasible (Hx hamiltonian) test = 0.14915E+07 + gama = 5.9135900101 Unfeasible (Hx hamiltonian) test = 0.31966E+07 + gama = 5.9135907805 Unfeasible (Hx hamiltonian) test = 0.74615E+07 + gama = 5.9135911657 Unfeasible (Hx hamiltonian) test = 0.22414E+08 + gama = 5.9135912620 Unfeasible (Hx hamiltonian) test = 0.44919E+08 diff --git a/modules/cacsd/tests/nonreg_tests/bug_11092.tst b/modules/cacsd/tests/nonreg_tests/bug_11092.tst new file mode 100755 index 000000000..4fcfc187d --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_11092.tst @@ -0,0 +1,23 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2012 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +// <-- CLI SHELL MODE --> +// <-- ENGLISH IMPOSED --> +// +// +// <-- Non-regression test for bug 11092 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=11092 +// +// <-- Short Description --> +//Incorrect argument check in h_inf + + +G=syslin("c",1/%s^3); +[P,r]=macglov(G); +assert_checktrue(execstr("[K,ro]=h_inf(P,r,0,1,30)","errcatch")==0); diff --git a/modules/cacsd/tests/nonreg_tests/bug_11300.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_11300.dia.ref new file mode 100755 index 000000000..7434e0692 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_11300.dia.ref @@ -0,0 +1,21 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2012 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// <-- CLI SHELL MODE --> +// +// +// <-- Non-regression test for bug 11300 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=11300 +// +// <-- Short Description --> +// freson calculates wrong frequencies +s = %s; +h = syslin('c', 0.5 * (2*s+1)/s^2 / (s^2 + 0.4*s + 4)); +hc = (2*h) /. 1; +ref= [0.3098445669312;0.0720289283079]; +assert_checkalmostequal(freson(hc), ref); diff --git a/modules/cacsd/tests/nonreg_tests/bug_11300.tst b/modules/cacsd/tests/nonreg_tests/bug_11300.tst new file mode 100755 index 000000000..7c8c77a50 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_11300.tst @@ -0,0 +1,25 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2012 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +// <-- CLI SHELL MODE --> +// +// +// <-- Non-regression test for bug 11300 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=11300 +// +// <-- Short Description --> +// freson calculates wrong frequencies + +s = %s; +h = syslin('c', 0.5 * (2*s+1)/s^2 / (s^2 + 0.4*s + 4)); +hc = (2*h) /. 1; + +ref= [0.3098445669312;0.0720289283079]; + +assert_checkalmostequal(freson(hc), ref); diff --git a/modules/cacsd/tests/nonreg_tests/bug_11941.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_11941.dia.ref new file mode 100755 index 000000000..06a58a021 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_11941.dia.ref @@ -0,0 +1,19 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2013 - Scilab Enterprises - Charlotte HECQUET +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// +// <-- Non-regression test for bug 11941 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=11941 +// +// <-- Short Description --> +// show_margins() fails in 'nyquist' mode if the system is in state-space form. It +// assumes the system is in transfer function form and calls horner() with it. +h=syslin('c',0.02909+0.11827*%s+0.12823*%s^2+0.35659*%s^3+0.256*%s^4+0.1*%s^5,.. + 0.0409+0.1827*%s+1.28225*%s^2+3.1909*%s^3+2.56*%s^4+%s^5); +h1=tf2ss(h); +assert_checktrue(execstr("show_margins(h1,""nyquist"");","errcatch")==0); diff --git a/modules/cacsd/tests/nonreg_tests/bug_11941.tst b/modules/cacsd/tests/nonreg_tests/bug_11941.tst new file mode 100755 index 000000000..711e3b616 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_11941.tst @@ -0,0 +1,20 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2013 - Scilab Enterprises - Charlotte HECQUET +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// +// <-- Non-regression test for bug 11941 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=11941 +// +// <-- Short Description --> +// show_margins() fails in 'nyquist' mode if the system is in state-space form. It +// assumes the system is in transfer function form and calls horner() with it. + +h=syslin('c',0.02909+0.11827*%s+0.12823*%s^2+0.35659*%s^3+0.256*%s^4+0.1*%s^5,.. + 0.0409+0.1827*%s+1.28225*%s^2+3.1909*%s^3+2.56*%s^4+%s^5); +h1=tf2ss(h); +assert_checktrue(execstr("show_margins(h1,""nyquist"");","errcatch")==0); diff --git a/modules/cacsd/tests/nonreg_tests/bug_1198.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_1198.dia.ref new file mode 100755 index 000000000..bf479b645 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_1198.dia.ref @@ -0,0 +1,19 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2005-2008 - INRIA - Pierre MARECHAL <pierre.marechal@inria.fr> +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// <-- Non-regression test for bug 1198 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=1198 +// +// <-- Short Description --> +// For the latest version of Scilab scilab-3.0-u-20050128 on a +// Windows 2000 platform. +// +// The program crashes instead of reporting a syntax error. +G = syslin('c', [1 0 ; 0 1], [ 1; 1], [1 1]); +err = execstr("minss(G)(""A"");","errcatch"); +if err <> 250 then bugmes();quit;end diff --git a/modules/cacsd/tests/nonreg_tests/bug_1198.tst b/modules/cacsd/tests/nonreg_tests/bug_1198.tst new file mode 100755 index 000000000..44cdafe46 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_1198.tst @@ -0,0 +1,21 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2005-2008 - INRIA - Pierre MARECHAL <pierre.marechal@inria.fr> +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +// <-- Non-regression test for bug 1198 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=1198 +// +// <-- Short Description --> +// For the latest version of Scilab scilab-3.0-u-20050128 on a +// Windows 2000 platform. +// +// The program crashes instead of reporting a syntax error. + +G = syslin('c', [1 0 ; 0 1], [ 1; 1], [1 1]); +err = execstr("minss(G)(""A"");","errcatch"); +if err <> 250 then pause,end diff --git a/modules/cacsd/tests/nonreg_tests/bug_11980.tst b/modules/cacsd/tests/nonreg_tests/bug_11980.tst new file mode 100755 index 000000000..bcd48c19a --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_11980.tst @@ -0,0 +1,32 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2013 - Scilab Enterprises - Charlotte HECQUET +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// +// English imposed for warnings +// <-- ENGLISH IMPOSED --> +// +// Ref not checked because of many lsode outputs which are different according to platform (x86/x64). +// <-- NO CHECK REF --> +// +// <-- Non-regression test for bug 11980 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=11980 +// +// <-- Short Description --> +// Submatrix incorrectly defined. +// at line 148 of function csim called by : +// y=csim('step',t,numerador/denominador). + +s=poly(0,'s'); funcprot(0); +kp=96.770532; +ki=42.568724; +kd=18.711118; +numerador=s^5*kd+s^4*(60*kd+kp)+s^3*(1500*kd-60*kp+ki)+s^2*(-15000*kd+1500*kp-60*ki)+s*(-15000*kp+1500*ki)-15000*ki; +denominador=s^5*(kd)+s^4*(-1-60*kd+kp)+s^3*(-1500-60+1500*kd-60*kp+ki)+s^2*(-15000-1500-15000*kd+1500*kp-60*ki)+s*(-15000-15000*kp+1500*ki)-15000*ki; +t=0:0.01:100; +errMsg = msprintf(_("%s: Simulation failed before final time is reached.\n"),"csim"); +assert_checkerror("csim(""step"",t,numerador/denominador);", errMsg); diff --git a/modules/cacsd/tests/nonreg_tests/bug_12115.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_12115.dia.ref new file mode 100755 index 000000000..c1285d097 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_12115.dia.ref @@ -0,0 +1,20 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2012 - Scilab Enterprises - Vincent COUVERT +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// +// <-- Non-regression test for bug 12115 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=12115 +// +// <-- Short Description --> +// phaseplot(frq,db,phi) did not work. +s=poly(0,"s"); +h=syslin("c",(s^2+2*0.9*10*s+100)/(s^2+2*0.3*10.1*s+102.01)); +h1=h*syslin("c",(s^2+2*0.1*15.1*s+228.01)/(s^2+2*0.9*15*s+225)); +[frq,repf]=repfreq([h;h1],0.01,100); +[phi,db]=phasemag(repf); +phaseplot(frq,db,phi) diff --git a/modules/cacsd/tests/nonreg_tests/bug_12115.tst b/modules/cacsd/tests/nonreg_tests/bug_12115.tst new file mode 100755 index 000000000..dad1a5b5c --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_12115.tst @@ -0,0 +1,21 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2012 - Scilab Enterprises - Vincent COUVERT +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// +// <-- Non-regression test for bug 12115 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=12115 +// +// <-- Short Description --> +// phaseplot(frq,db,phi) did not work. + +s=poly(0,"s"); +h=syslin("c",(s^2+2*0.9*10*s+100)/(s^2+2*0.3*10.1*s+102.01)); +h1=h*syslin("c",(s^2+2*0.1*15.1*s+228.01)/(s^2+2*0.9*15*s+225)); +[frq,repf]=repfreq([h;h1],0.01,100); +[phi,db]=phasemag(repf); +phaseplot(frq,db,phi) diff --git a/modules/cacsd/tests/nonreg_tests/bug_12174.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_12174.dia.ref new file mode 100755 index 000000000..6809cde8c --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_12174.dia.ref @@ -0,0 +1,31 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2013 - Scilab Enterprises - Charlotte HECQUET +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// +// <-- Non-regression test for bug 12174 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=12174 +// +// <-- Short Description --> +// The function routh_t gives incorrect output for all denominators that include +// gain value "k". +s = poly(0, 's'); +k = poly(0,'k'); +P=s*(s+7)*(s+11); +h=1/P; +r_rat=routh_t(h,k,%t); +r_poly=routh_t(h,k,%f); +ref_rat=[1 77; 18 k;(1386-k)/18 0; k 0]; +numref=numer(ref_rat); +numref(3)=1386 - k; +denr=denom(r_rat); +denr=horner(denr,1); +denref=denom(ref_rat); +denref(3)=18; +ref_poly=[1 77; 18 k; 1386-k 0; 1386*k-k*k 0]; +assert_checkequal(numer(r_rat)/denr,numref/denref); +assert_checkequal(r_poly,ref_poly); diff --git a/modules/cacsd/tests/nonreg_tests/bug_12174.tst b/modules/cacsd/tests/nonreg_tests/bug_12174.tst new file mode 100755 index 000000000..518753e27 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_12174.tst @@ -0,0 +1,34 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2013 - Scilab Enterprises - Charlotte HECQUET +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// +// <-- Non-regression test for bug 12174 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=12174 +// +// <-- Short Description --> +// The function routh_t gives incorrect output for all denominators that include +// gain value "k". + +s = poly(0, 's'); +k = poly(0,'k'); +P=s*(s+7)*(s+11); +h=1/P; +r_rat=routh_t(h,k,%t); +r_poly=routh_t(h,k,%f); + +ref_rat=[1 77; 18 k;(1386-k)/18 0; k 0]; +numref=numer(ref_rat); +numref(3)=1386 - k; +denr=denom(r_rat); +denr=horner(denr,1); +denref=denom(ref_rat); +denref(3)=18; +ref_poly=[1 77; 18 k; 1386-k 0; 1386*k-k*k 0]; + +assert_checkequal(numer(r_rat)/denr,numref/denref); +assert_checkequal(r_poly,ref_poly); diff --git a/modules/cacsd/tests/nonreg_tests/bug_12221.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_12221.dia.ref new file mode 100755 index 000000000..9c0d457fb --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_12221.dia.ref @@ -0,0 +1,24 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2013 - Scilab Enterprises - Charlotte HECQUET +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// +// <-- Non-regression test for bug 12221 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=12221 +// +// <-- Short Description --> +// fspec is not documented and there was an error message "undefined variable: Sl". +a=-1000; +b=5; +c=5; +d=5; +sl=syslin('c',a,b,c,d); +res=fspec(sl); +ref=[-1000 5 2.2305056 2.236068 0]; +for i=1:5 +assert_checkalmostequal(ref(i),res(i+1)); +end diff --git a/modules/cacsd/tests/nonreg_tests/bug_12221.tst b/modules/cacsd/tests/nonreg_tests/bug_12221.tst new file mode 100755 index 000000000..264b68515 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_12221.tst @@ -0,0 +1,25 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2013 - Scilab Enterprises - Charlotte HECQUET +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// +// <-- Non-regression test for bug 12221 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=12221 +// +// <-- Short Description --> +// fspec is not documented and there was an error message "undefined variable: Sl". + +a=-1000; +b=5; +c=5; +d=5; +sl=syslin('c',a,b,c,d); +res=fspec(sl); +ref=[-1000 5 2.2305056 2.236068 0]; +for i=1:5 +assert_checkalmostequal(ref(i),res(i+1)); +end diff --git a/modules/cacsd/tests/nonreg_tests/bug_12629.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_12629.dia.ref new file mode 100755 index 000000000..2da963d0a --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_12629.dia.ref @@ -0,0 +1,21 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2013 - Scilab Enterprises - Charlotte HECQUET +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// <-- CLI SHELL MODE --> +// +// <-- Non-regression test for bug 12629 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=12629 +// +// <-- Short Description --> +// Last example of csim help page defines a function input() overwriting the scilab one +s=poly(0,'s'); +rand('seed',0); +w=ssrand(1,1,3); +w('A')=w('A')-2*eye(); +t=0:0.05:5; +assert_checktrue(execstr("deff(''u=timefun(t)'',''u=abs(sin(t))'');", "errcatch") == 0); diff --git a/modules/cacsd/tests/nonreg_tests/bug_12629.tst b/modules/cacsd/tests/nonreg_tests/bug_12629.tst new file mode 100755 index 000000000..746e1d763 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_12629.tst @@ -0,0 +1,23 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2013 - Scilab Enterprises - Charlotte HECQUET +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +// <-- CLI SHELL MODE --> +// +// <-- Non-regression test for bug 12629 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=12629 +// +// <-- Short Description --> +// Last example of csim help page defines a function input() overwriting the scilab one + +s=poly(0,'s'); +rand('seed',0); +w=ssrand(1,1,3); +w('A')=w('A')-2*eye(); +t=0:0.05:5; +assert_checktrue(execstr("deff(''u=timefun(t)'',''u=abs(sin(t))'');", "errcatch") == 0); diff --git a/modules/cacsd/tests/nonreg_tests/bug_12828.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_12828.dia.ref new file mode 100755 index 000000000..e2629daa0 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_12828.dia.ref @@ -0,0 +1,19 @@ +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2013 - Scilab Enterprises - Charlotte HECQUET +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// +// <-- Non-regression test for bug 12828 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=12828 +// +// <-- Short Description --> +// routh_t() function with two input argument (routh_t(h,kp)) gives a wrong table for the special case +// in which the first element of a row is zero. +s=%s; +P=s^3+3*s; +kp=2; +routh_t(1/P, kp); +assert_checkequal(routh_t(1/P, kp), routh_t(P+kp)); diff --git a/modules/cacsd/tests/nonreg_tests/bug_12828.tst b/modules/cacsd/tests/nonreg_tests/bug_12828.tst new file mode 100755 index 000000000..8da7c4590 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_12828.tst @@ -0,0 +1,20 @@ +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2013 - Scilab Enterprises - Charlotte HECQUET +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// +// <-- Non-regression test for bug 12828 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=12828 +// +// <-- Short Description --> +// routh_t() function with two input argument (routh_t(h,kp)) gives a wrong table for the special case +// in which the first element of a row is zero. + +s=%s; +P=s^3+3*s; +kp=2; +routh_t(1/P, kp); +assert_checkequal(routh_t(1/P, kp), routh_t(P+kp)); diff --git a/modules/cacsd/tests/nonreg_tests/bug_12829.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_12829.dia.ref new file mode 100755 index 000000000..75085a4ae --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_12829.dia.ref @@ -0,0 +1,19 @@ +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2013 - Scilab Enterprises - Charlotte HECQUET +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// +// <-- Non-regression test for bug 12829 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=12829 +// +// <-- Short Description --> +// routh_t() function with two input argument (routh_t(h,kp)) gives a wrong table for the special case +// in which the first element of a row is zero. +s=%s; +P=5*s^3-10*s^2+7*s+20; +routh_t((1+s)/P,10); +[r, num]=routh_t(P); +assert_checkequal(num, 2); diff --git a/modules/cacsd/tests/nonreg_tests/bug_12829.tst b/modules/cacsd/tests/nonreg_tests/bug_12829.tst new file mode 100755 index 000000000..8f543e5a8 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_12829.tst @@ -0,0 +1,20 @@ +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2013 - Scilab Enterprises - Charlotte HECQUET +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// +// <-- Non-regression test for bug 12829 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=12829 +// +// <-- Short Description --> +// routh_t() function with two input argument (routh_t(h,kp)) gives a wrong table for the special case +// in which the first element of a row is zero. + +s=%s; +P=5*s^3-10*s^2+7*s+20; +routh_t((1+s)/P,10); +[r, num]=routh_t(P); +assert_checkequal(num, 2); diff --git a/modules/cacsd/tests/nonreg_tests/bug_12875.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_12875.dia.ref new file mode 100755 index 000000000..a7f04b74c --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_12875.dia.ref @@ -0,0 +1,17 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2013 - Scilab Enterprises - Charlotte HECQUET +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// +// <-- Non-regression test for bug 12875 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=12875 +// +// <-- Short Description --> +// phasemag returns an error for vector containing zero. +assert_checkequal(phasemag([0 0]), [0 0]); +assert_checkequal(phasemag([%i 0]), [90 0]); +assert_checkequal(phasemag([-%i 0]), [-90 0]); diff --git a/modules/cacsd/tests/nonreg_tests/bug_12875.tst b/modules/cacsd/tests/nonreg_tests/bug_12875.tst new file mode 100755 index 000000000..de1870572 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_12875.tst @@ -0,0 +1,18 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2013 - Scilab Enterprises - Charlotte HECQUET +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// +// <-- Non-regression test for bug 12875 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=12875 +// +// <-- Short Description --> +// phasemag returns an error for vector containing zero. + +assert_checkequal(phasemag([0 0]), [0 0]); +assert_checkequal(phasemag([%i 0]), [90 0]); +assert_checkequal(phasemag([-%i 0]), [-90 0]); diff --git a/modules/cacsd/tests/nonreg_tests/bug_13170.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_13170.dia.ref new file mode 100755 index 000000000..b99d7a75b --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_13170.dia.ref @@ -0,0 +1,23 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2014 - Scilab Enterprises - Paul Bignier +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// +// <-- Non-regression test for bug 13170 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=13170 +// +// <-- Short Description --> +// plzr plotted wrong legends. +s = %s; +G1 = syslin("c", 1, s^3+s^2+5*s+2); +G2 = syslin("c", s+3, s^3+s^2+5*s+2); +plzr(G1); +a = gce(); +assert_checkequal(a.text, _("Poles")); +plzr(G2); +b = gce(); +assert_checkequal(b.text, [_("Poles"); _("Zeros")]); diff --git a/modules/cacsd/tests/nonreg_tests/bug_13170.tst b/modules/cacsd/tests/nonreg_tests/bug_13170.tst new file mode 100755 index 000000000..41e3d90c1 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_13170.tst @@ -0,0 +1,26 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2014 - Scilab Enterprises - Paul Bignier +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// +// <-- Non-regression test for bug 13170 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=13170 +// +// <-- Short Description --> +// plzr plotted wrong legends. + +s = %s; +G1 = syslin("c", 1, s^3+s^2+5*s+2); +G2 = syslin("c", s+3, s^3+s^2+5*s+2); + +plzr(G1); +a = gce(); +assert_checkequal(a.text, _("Poles")); + +plzr(G2); +b = gce(); +assert_checkequal(b.text, [_("Poles"); _("Zeros")]); diff --git a/modules/cacsd/tests/nonreg_tests/bug_13233.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_13233.dia.ref new file mode 100755 index 000000000..290a3e18d --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_13233.dia.ref @@ -0,0 +1,39 @@ +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2014 - Scilab Enterprises - Charlotte HECQUET +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// +// <-- Non-regression test for bug 13233 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=13233 +// +// <-- Short Description --> +// There is an offset in the result of a step response for transfer function +// (a*s^2+b*s+c)/(d*s^2+e*s+f) +s=poly(0,'s'); +Uo=6; +Da=0.5; +Go=1/15; +L=0.00009; +Rl=0.05; +C=0.0004; +Rc=0.1; +Rt=0.2; +Rd=0.07; +Rz=Rl+Rt*Da+Rd*(1-Da); +Cz=C*(1+Rc*Go);A0=Uo*Rz; +A1=Uo*(L+C*Rc*Rz); +A2=Uo*L*C*Rc; +B0=1+Rz*Go; +B1=L*Go+C*Rc+Rz*Cz; +B2=L*Cz; +H=syslin('c',-(A2*s^2+A1*s+A0)/(B2*s^2+B1*s+B0)); +t=[0:0.000001:0.005]; +ycsim=csim('step',t,H); +sl=tf2ss(H); +deff("[ydot]=%sim2(t,y)","ydot=sl.a*y+sl.b*1"); +x=ode("adams",zeros(2,1),0,t,414d-9,0.000001,%sim2); +yode=sl.c*x+sl.d*1; +assert_checkalmostequal(ycsim,yode,[],1e-4); diff --git a/modules/cacsd/tests/nonreg_tests/bug_13233.tst b/modules/cacsd/tests/nonreg_tests/bug_13233.tst new file mode 100755 index 000000000..205d1cf30 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_13233.tst @@ -0,0 +1,41 @@ +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2014 - Scilab Enterprises - Charlotte HECQUET +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// +// <-- Non-regression test for bug 13233 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=13233 +// +// <-- Short Description --> +// There is an offset in the result of a step response for transfer function +// (a*s^2+b*s+c)/(d*s^2+e*s+f) + +s=poly(0,'s'); +Uo=6; +Da=0.5; +Go=1/15; +L=0.00009; +Rl=0.05; +C=0.0004; +Rc=0.1; +Rt=0.2; +Rd=0.07; +Rz=Rl+Rt*Da+Rd*(1-Da); +Cz=C*(1+Rc*Go);A0=Uo*Rz; +A1=Uo*(L+C*Rc*Rz); +A2=Uo*L*C*Rc; +B0=1+Rz*Go; +B1=L*Go+C*Rc+Rz*Cz; +B2=L*Cz; +H=syslin('c',-(A2*s^2+A1*s+A0)/(B2*s^2+B1*s+B0)); +t=[0:0.000001:0.005]; +ycsim=csim('step',t,H); + +sl=tf2ss(H); +deff("[ydot]=%sim2(t,y)","ydot=sl.a*y+sl.b*1"); +x=ode("adams",zeros(2,1),0,t,414d-9,0.000001,%sim2); +yode=sl.c*x+sl.d*1; +assert_checkalmostequal(ycsim,yode,[],1e-4); diff --git a/modules/cacsd/tests/nonreg_tests/bug_13359.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_13359.dia.ref new file mode 100755 index 000000000..40c1cf894 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_13359.dia.ref @@ -0,0 +1,24 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2014 - Scilab Enterprises - Pierre-Aime Agnel +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// +// <-- Non-regression test for bug 13359 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/13359 +// +// <-- Short Description --> +// Nyquist datatip were not displaying negative frequencies properly +// +// <-- TEST WITH GRAPHIC --> +s = poly(0, 's'); +h = syslin('c', 1 / (s + 1)); +nyquist(h); +ax = gca(); +pl = ax.children(1).children(2); +d1 = datatipCreate(pl, 200); +txt_datatip = d1.text; +assert_checkequal(strindex(txt_datatip(2), "-"), 1); diff --git a/modules/cacsd/tests/nonreg_tests/bug_13359.tst b/modules/cacsd/tests/nonreg_tests/bug_13359.tst new file mode 100755 index 000000000..d5e208dbf --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_13359.tst @@ -0,0 +1,26 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2014 - Scilab Enterprises - Pierre-Aime Agnel +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// +// <-- Non-regression test for bug 13359 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/13359 +// +// <-- Short Description --> +// Nyquist datatip were not displaying negative frequencies properly +// +// <-- TEST WITH GRAPHIC --> + +s = poly(0, 's'); +h = syslin('c', 1 / (s + 1)); +nyquist(h); + +ax = gca(); +pl = ax.children(1).children(2); +d1 = datatipCreate(pl, 200); +txt_datatip = d1.text; +assert_checkequal(strindex(txt_datatip(2), "-"), 1); diff --git a/modules/cacsd/tests/nonreg_tests/bug_13482.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_13482.dia.ref new file mode 100755 index 000000000..325521c42 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_13482.dia.ref @@ -0,0 +1,21 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2014 - Scilab Enterprises - Pierre-Aime Agnel +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// +// <-- Non-regression test for bug 13482 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/13482 +// +// <-- Short Description --> +// pfss changed the variable of the rational fractions +// +// <-- CLI SHELL MODE --> +f = %z / (2-%z) / (%z+1); +d = pfss(f); +// f and d must have the same variable name +assert_checkequal(varn(f), varn(d(1))); +assert_checkequal(varn(f), varn(d(2))); diff --git a/modules/cacsd/tests/nonreg_tests/bug_13482.tst b/modules/cacsd/tests/nonreg_tests/bug_13482.tst new file mode 100755 index 000000000..49cd2092a --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_13482.tst @@ -0,0 +1,23 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2014 - Scilab Enterprises - Pierre-Aime Agnel +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// +// <-- Non-regression test for bug 13482 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/13482 +// +// <-- Short Description --> +// pfss changed the variable of the rational fractions +// +// <-- CLI SHELL MODE --> + +f = %z / (2-%z) / (%z+1); +d = pfss(f); + +// f and d must have the same variable name +assert_checkequal(varn(f), varn(d(1))); +assert_checkequal(varn(f), varn(d(2))); diff --git a/modules/cacsd/tests/nonreg_tests/bug_13791.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_13791.dia.ref new file mode 100755 index 000000000..4f2583592 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_13791.dia.ref @@ -0,0 +1,26 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2015 - Scilab Enterprises - Vincent COUVERT +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// +// <-- CLI SHELL MODE --> +// +// <-- Non-regression test for bug 13791 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/13791 +// +// <-- Short Description --> +// ricc() no longer accepts the 'invf' method. +// +F = rand(3,3); +G1 = rand(3,2); +R = rand(2,2); +G2 = R*R'+eye(); +G = G1/G2*G1'; +C = rand(3,3); +H = C*C'; +ierr = execstr("X=ricc(F,G,H,""disc"",""invf"");", "errcatch"); +assert_checktrue(ierr==0); diff --git a/modules/cacsd/tests/nonreg_tests/bug_13791.tst b/modules/cacsd/tests/nonreg_tests/bug_13791.tst new file mode 100755 index 000000000..191b674d8 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_13791.tst @@ -0,0 +1,28 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2015 - Scilab Enterprises - Vincent COUVERT +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// +// <-- CLI SHELL MODE --> +// +// <-- Non-regression test for bug 13791 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/13791 +// +// <-- Short Description --> +// ricc() no longer accepts the 'invf' method. +// + +F = rand(3,3); +G1 = rand(3,2); +R = rand(2,2); +G2 = R*R'+eye(); +G = G1/G2*G1'; +C = rand(3,3); +H = C*C'; + +ierr = execstr("X=ricc(F,G,H,""disc"",""invf"");", "errcatch"); +assert_checktrue(ierr==0);
\ No newline at end of file diff --git a/modules/cacsd/tests/nonreg_tests/bug_1508.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_1508.dia.ref new file mode 100755 index 000000000..7a2f85c3a --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_1508.dia.ref @@ -0,0 +1,18 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2008 - INRIA - Vincent COUVERT +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// <-- Non-regression test for bug 1508 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=1508 +// +// <-- Short Description --> +// A transfer function with small numeric values is assumed not to be SISO, when used in 'csim'. +clear; +s=poly(0,"s"); +t=0:1e-25:1e-20; +s1=syslin("c",1/(1+1e-21*s)); +if execstr("s2=csim(""step"",t,s1);","errcatch")<>0 then bugmes();quit;end diff --git a/modules/cacsd/tests/nonreg_tests/bug_1508.tst b/modules/cacsd/tests/nonreg_tests/bug_1508.tst new file mode 100755 index 000000000..b0c7fe469 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_1508.tst @@ -0,0 +1,22 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2008 - INRIA - Vincent COUVERT +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +// <-- Non-regression test for bug 1508 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=1508 +// +// <-- Short Description --> +// A transfer function with small numeric values is assumed not to be SISO, when used in 'csim'. + +clear; +s=poly(0,"s"); +t=0:1e-25:1e-20; +s1=syslin("c",1/(1+1e-21*s)); + +if execstr("s2=csim(""step"",t,s1);","errcatch")<>0 then pause,end + diff --git a/modules/cacsd/tests/nonreg_tests/bug_2252.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_2252.dia.ref new file mode 100755 index 000000000..7bd177506 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_2252.dia.ref @@ -0,0 +1,23 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2008 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// <-- Non-regression test for bug 2252 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=2252 +// +// <-- Short Description --> +// csim produces unusual results for the following nonminimum phase system +// Problem due to state basis change used to block diagonalize the state matrix +s=poly(0,'s'); +p=(1-s)/(1+s)^2; +p=syslin('c',p); +t=0:0.01:20; +ycsim=csim('step',t,p); +sl=syslin('c',[-1 -2;0 -1],[1;1],[-1 0]); +function ydot=sim(t,y),ydot=sl.a*y+sl.b,endfunction +yode=sl.c*ode(zeros(2,1),0,t,1.414D-09,0.0000001,sim); +assert_checkalmostequal(ycsim, yode, [], 7e-3, "matrix"); diff --git a/modules/cacsd/tests/nonreg_tests/bug_2252.tst b/modules/cacsd/tests/nonreg_tests/bug_2252.tst new file mode 100755 index 000000000..2e576ceeb --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_2252.tst @@ -0,0 +1,26 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2008 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +// <-- Non-regression test for bug 2252 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=2252 +// +// <-- Short Description --> +// csim produces unusual results for the following nonminimum phase system +// Problem due to state basis change used to block diagonalize the state matrix +s=poly(0,'s'); +p=(1-s)/(1+s)^2; +p=syslin('c',p); +t=0:0.01:20; +ycsim=csim('step',t,p); + +sl=syslin('c',[-1 -2;0 -1],[1;1],[-1 0]); +function ydot=sim(t,y),ydot=sl.a*y+sl.b,endfunction +yode=sl.c*ode(zeros(2,1),0,t,1.414D-09,0.0000001,sim); + +assert_checkalmostequal(ycsim, yode, [], 7e-3, "matrix"); diff --git a/modules/cacsd/tests/nonreg_tests/bug_2836.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_2836.dia.ref new file mode 100755 index 000000000..cd304b791 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_2836.dia.ref @@ -0,0 +1,26 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2005-2008 - INRIA -Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// <-- Non-regression test for bug 3836 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=3836 +// +// <-- Short Description --> +//Problem with the function csim when using state space form. When using this +//function with two output arguments [y, x] (output and state of the dynamical +//system), with an observation matrix C=[1 0], the output is not equal to the first +//component of the state. +Ks = 2; z = 0.9; w = 10; +A=[0 1 ; -w^2 -2*z*w]; +B=[0 ; Ks*w^2]; +C=[1 0]; +sys=syslin('c',A,B,C); +u=[2*ones(1,280) 0.5*ones(1,240) 1.5*ones(1,380) ones(1,160)]; +N=length(u); +t=linspace(0,2,N); +[y,x] = csim(u,t,sys); +if norm(y-x(1,:))>%eps then bugmes();quit;end diff --git a/modules/cacsd/tests/nonreg_tests/bug_2836.tst b/modules/cacsd/tests/nonreg_tests/bug_2836.tst new file mode 100755 index 000000000..f51be9da3 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_2836.tst @@ -0,0 +1,29 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2005-2008 - INRIA -Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +// <-- Non-regression test for bug 3836 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=3836 +// +// <-- Short Description --> +//Problem with the function csim when using state space form. When using this +//function with two output arguments [y, x] (output and state of the dynamical +//system), with an observation matrix C=[1 0], the output is not equal to the first +//component of the state. + +Ks = 2; z = 0.9; w = 10; +A=[0 1 ; -w^2 -2*z*w]; +B=[0 ; Ks*w^2]; +C=[1 0]; +sys=syslin('c',A,B,C); +u=[2*ones(1,280) 0.5*ones(1,240) 1.5*ones(1,380) ones(1,160)]; +N=length(u); +t=linspace(0,2,N); +[y,x] = csim(u,t,sys); +if norm(y-x(1,:))>%eps then pause,end + diff --git a/modules/cacsd/tests/nonreg_tests/bug_3323.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_3323.dia.ref new file mode 100755 index 000000000..9fdcf4922 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_3323.dia.ref @@ -0,0 +1,16 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2008 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// <-- Non-regression test for bug 3323 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=3323 +// +// <-- Short Description --> +// In ss2tf.sci, it is claimed that one may enter the second argument, rmax, as "b". +z=poly(0,'z'); +h=[1,1/z;1/(z^2+1),z/(z^2-2)]; +if norm(coeff(numer(clean(ss2tf(tf2ss(h),'b'))-h)),1) >100*%eps then bugmes();quit;end diff --git a/modules/cacsd/tests/nonreg_tests/bug_3323.tst b/modules/cacsd/tests/nonreg_tests/bug_3323.tst new file mode 100755 index 000000000..f61a0be58 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_3323.tst @@ -0,0 +1,19 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2008 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +// <-- Non-regression test for bug 3323 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=3323 +// +// <-- Short Description --> +// In ss2tf.sci, it is claimed that one may enter the second argument, rmax, as "b". +z=poly(0,'z'); +h=[1,1/z;1/(z^2+1),z/(z^2-2)]; +if norm(coeff(numer(clean(ss2tf(tf2ss(h),'b'))-h)),1) >100*%eps then pause,end + + diff --git a/modules/cacsd/tests/nonreg_tests/bug_3767.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_3767.dia.ref new file mode 100755 index 000000000..618b9ecfc --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_3767.dia.ref @@ -0,0 +1,22 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2008 - DIGITEO - Allan CORNET +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// <-- Non-regression test for bug 3767 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=3767 +// +// <-- Short Description --> +// Atlas library crashs scilab with this example +A=rand(3,3); +B=rand(3,2); +C=rand(3,3); +C=C*C'; +R=rand(2,2); +R=R*R'+eye(); +B=B*inv(R)*B'; +X=ricc(A,B,C,'disc'); +if or(size(X)<>[3 3]) then bugmes();quit;end diff --git a/modules/cacsd/tests/nonreg_tests/bug_3767.tst b/modules/cacsd/tests/nonreg_tests/bug_3767.tst new file mode 100755 index 000000000..e76ee296b --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_3767.tst @@ -0,0 +1,27 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2008 - DIGITEO - Allan CORNET +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +// <-- Non-regression test for bug 3767 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=3767 +// +// <-- Short Description --> +// Atlas library crashs scilab with this example + +A=rand(3,3); +B=rand(3,2); +C=rand(3,3); +C=C*C'; +R=rand(2,2); +R=R*R'+eye(); + +B=B*inv(R)*B'; + +X=ricc(A,B,C,'disc'); + +if or(size(X)<>[3 3]) then pause,end
\ No newline at end of file diff --git a/modules/cacsd/tests/nonreg_tests/bug_3783.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_3783.dia.ref new file mode 100755 index 000000000..0a20590cf --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_3783.dia.ref @@ -0,0 +1,22 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2008 - DIGITEO - Vincent Couvert +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// <-- Non-regression test for bug 3783 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=3783 +// +// <-- Short Description --> +// Using the command trfmod in version 5.0.3 (at least) in windows (at least) the program is blocked. +// <-- INTERACTIVE TEST --> +h=syslin('c',1/%s); +// Please click the 'OK' button, the program must return +trfmod(h) + ans = + + 1 + - + s diff --git a/modules/cacsd/tests/nonreg_tests/bug_3783.tst b/modules/cacsd/tests/nonreg_tests/bug_3783.tst new file mode 100755 index 000000000..7c6c144a7 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_3783.tst @@ -0,0 +1,21 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2008 - DIGITEO - Vincent Couvert +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +// <-- Non-regression test for bug 3783 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=3783 +// +// <-- Short Description --> +// Using the command trfmod in version 5.0.3 (at least) in windows (at least) the program is blocked. + + +// <-- INTERACTIVE TEST --> + +h=syslin('c',1/%s); +// Please click the 'OK' button, the program must return +trfmod(h) diff --git a/modules/cacsd/tests/nonreg_tests/bug_3796.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_3796.dia.ref new file mode 100755 index 000000000..b0e238e1c --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_3796.dia.ref @@ -0,0 +1,43 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2010 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// <-- CLI SHELL MODE --> +// <-- Non-regression test for bug 3796 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=3796 +// +// <-- Short Description --> +//In some situation the "tf2ss()" function is not capable to compute +//correctly the state space representation of a transfer function. +s = poly(0,'s'); +E = 15.0 ; +Vo = 5.0 ; +D = Vo/E ; +Delta_Vo = 0.1; +Ts = 1*10^(-3); +t_on = D*Ts ; +t_of = Ts-t_on; +Ro = 5.1 ; +L = 2.28*10^(-3); +Error=0.1; // ramp error desired +Delta_i_L=(E*(1-D)*D*Ts)/L; +C = (Delta_i_L*Ts)/(8*Delta_Vo); +fdt_Vo_d = syslin('c',E,((L*C)*s^(2)+(L/Ro)*s+1) ); +fa0 = 50; // [Hertz] +wa0 = 2*%pi*fa0; // [rad/sec] pulsation +Kc=1/(E*Error); +Ctipo=syslin('c',Kc,s); +K=10^(35/20); +ma=20; +wta=0.8; +Ca=syslin('c',1+(wta/wa0)*s,1+s*(wta/wa0)/ma); +Cds = K*Ctipo*Ca*Ca; +Lds = Cds*fdt_Vo_d; +uno = syslin('c',1,1); +Wds =Lds/.uno; +Wds_ss = tf2ss(Wds); +if size(Wds_ss.A)<>5 then bugmes();quit;end diff --git a/modules/cacsd/tests/nonreg_tests/bug_3796.tst b/modules/cacsd/tests/nonreg_tests/bug_3796.tst new file mode 100755 index 000000000..de9522202 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_3796.tst @@ -0,0 +1,53 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2010 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +// <-- CLI SHELL MODE --> + +// <-- Non-regression test for bug 3796 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=3796 +// +// <-- Short Description --> + +//In some situation the "tf2ss()" function is not capable to compute +//correctly the state space representation of a transfer function. + +s = poly(0,'s'); + +E = 15.0 ; +Vo = 5.0 ; + +D = Vo/E ; +Delta_Vo = 0.1; +Ts = 1*10^(-3); +t_on = D*Ts ; +t_of = Ts-t_on; +Ro = 5.1 ; +L = 2.28*10^(-3); + +Error=0.1; // ramp error desired +Delta_i_L=(E*(1-D)*D*Ts)/L; +C = (Delta_i_L*Ts)/(8*Delta_Vo); +fdt_Vo_d = syslin('c',E,((L*C)*s^(2)+(L/Ro)*s+1) ); +fa0 = 50; // [Hertz] +wa0 = 2*%pi*fa0; // [rad/sec] pulsation + +Kc=1/(E*Error); +Ctipo=syslin('c',Kc,s); + +K=10^(35/20); +ma=20; +wta=0.8; +Ca=syslin('c',1+(wta/wa0)*s,1+s*(wta/wa0)/ma); +Cds = K*Ctipo*Ca*Ca; +Lds = Cds*fdt_Vo_d; +uno = syslin('c',1,1); +Wds =Lds/.uno; + +Wds_ss = tf2ss(Wds); +if size(Wds_ss.A)<>5 then pause,end diff --git a/modules/cacsd/tests/nonreg_tests/bug_3880.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_3880.dia.ref new file mode 100755 index 000000000..fcf127bed --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_3880.dia.ref @@ -0,0 +1,24 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2005-2008 - INRIA - Serge.Steer@inria.fr +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// <-- Non-regression test for bug 3880 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=3880 +// +// <-- Short Description --> +// division by zero occurs in g_margin with Scilab v5.0.3 +// +s=%s/(2*%pi); +g=20*(s+1)/(s*(s+5)*(s^2+2*s+10)); +gs=syslin('c',g) + gs = + + 20 + 3.1830989s + ------------------------------------------------- + 2 3 4 + 7.9577472s + 0.5066059s + 0.0282201s + 0.0006416s +if execstr('[gg,wcp]=g_margin(gs)','errcatch')<>0 then bugmes();quit;end diff --git a/modules/cacsd/tests/nonreg_tests/bug_3880.tst b/modules/cacsd/tests/nonreg_tests/bug_3880.tst new file mode 100755 index 000000000..be1b5bfc7 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_3880.tst @@ -0,0 +1,20 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2005-2008 - INRIA - Serge.Steer@inria.fr +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +// <-- Non-regression test for bug 3880 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=3880 +// +// <-- Short Description --> +// division by zero occurs in g_margin with Scilab v5.0.3 +// +s=%s/(2*%pi); +g=20*(s+1)/(s*(s+5)*(s^2+2*s+10)); +gs=syslin('c',g) +if execstr('[gg,wcp]=g_margin(gs)','errcatch')<>0 then pause,end + diff --git a/modules/cacsd/tests/nonreg_tests/bug_3934.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_3934.dia.ref new file mode 100755 index 000000000..7935e44c2 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_3934.dia.ref @@ -0,0 +1,49 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2009 - DIGITEO - Vincent COUVERT +// Copyright (C) 2009 - 2011 - DIGITEO - Michael Baudin +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// <-- Non-regression test for bug 3934 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=3439 +// +// <-- Short Description --> +// Online Help of ricc() function crashes Scilab +//Standard formulas to compute Riccati solutions +A=rand(3,3); +B=rand(3,2); +C=rand(3,3); +C=C*C'; +R=rand(2,2); +R=R*R'+eye(); +B=B*inv(R)*B'; +X=ricc(A,B,C,'cont'); +computed = A'*X+X*A-X*B*X+C; +expected = zeros(3,3); +assert_checkalmostequal ( computed, expected, [] , 1.e4 * %eps ); +H=[A -B;-C -A']; +[T,d]=schur(eye(H),H,'cont'); +T=T(:,1:d); +X1=T(4:6,:)/T(1:3,:); +assert_checkalmostequal ( X1, X, 1.e4 * %eps ); +[T,d]=schur(H,'cont'); +T=T(:,1:d); +X2=T(4:6,:)/T(1:3,:); +assert_checkalmostequal ( X2, X, 1.e4 * %eps ); +// Discrete time case +F=A; +B=rand(3,2); +G1=B; +G2=R; +G=G1/G2*G1'; +H=C; +X=ricc(F,G,H,'disc'); +expected = [ + 2.0390067 1.3494625 1.3988904 + 1.3494625 1.4794503 1.6987296 + 1.3988904 1.6987296 2.3494632 + ]; +assert_checkalmostequal ( computed, expected, 1.e7 ); diff --git a/modules/cacsd/tests/nonreg_tests/bug_3934.tst b/modules/cacsd/tests/nonreg_tests/bug_3934.tst new file mode 100755 index 000000000..90d0d21dd --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_3934.tst @@ -0,0 +1,56 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2009 - DIGITEO - Vincent COUVERT +// Copyright (C) 2009 - 2011 - DIGITEO - Michael Baudin +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +// <-- Non-regression test for bug 3934 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=3439 +// +// <-- Short Description --> +// Online Help of ricc() function crashes Scilab + +//Standard formulas to compute Riccati solutions +A=rand(3,3); +B=rand(3,2); +C=rand(3,3); +C=C*C'; +R=rand(2,2); +R=R*R'+eye(); +B=B*inv(R)*B'; +X=ricc(A,B,C,'cont'); +computed = A'*X+X*A-X*B*X+C; +expected = zeros(3,3); +assert_checkalmostequal ( computed, expected, [] , 1.e4 * %eps ); + +H=[A -B;-C -A']; +[T,d]=schur(eye(H),H,'cont'); +T=T(:,1:d); +X1=T(4:6,:)/T(1:3,:); +assert_checkalmostequal ( X1, X, 1.e4 * %eps ); + +[T,d]=schur(H,'cont'); +T=T(:,1:d); +X2=T(4:6,:)/T(1:3,:); +assert_checkalmostequal ( X2, X, 1.e4 * %eps ); + +// Discrete time case +F=A; +B=rand(3,2); +G1=B; +G2=R; +G=G1/G2*G1'; +H=C; +X=ricc(F,G,H,'disc'); +expected = [ + 2.0390067 1.3494625 1.3988904 + 1.3494625 1.4794503 1.6987296 + 1.3988904 1.6987296 2.3494632 + ]; +assert_checkalmostequal ( computed, expected, 1.e7 ); + + diff --git a/modules/cacsd/tests/nonreg_tests/bug_3967.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_3967.dia.ref new file mode 100755 index 000000000..467a0cb52 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_3967.dia.ref @@ -0,0 +1,19 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2009 - DIGITEO - Vincent COUVERT +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// <-- Non-regression test for bug 3967 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=3967 +// +// <-- Short Description --> +// when called with a transfer function, pfss returns a set of state-space systems as a result. +// pfss used to return a transfer functions when called with a transfer function (verified of 4.1.2). +// When called with a tf, pfss should of course return a tf. +tf = syslin("c", 1/%s); +ss = tf2ss(tf); +if pfss(tf)<>list(tf) then bugmes();quit;end +if pfss(ss)<>list(ss) then bugmes();quit;end diff --git a/modules/cacsd/tests/nonreg_tests/bug_3967.tst b/modules/cacsd/tests/nonreg_tests/bug_3967.tst new file mode 100755 index 000000000..0bed3f7fa --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_3967.tst @@ -0,0 +1,24 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2009 - DIGITEO - Vincent COUVERT +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +// <-- Non-regression test for bug 3967 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=3967 +// +// <-- Short Description --> +// when called with a transfer function, pfss returns a set of state-space systems as a result. +// pfss used to return a transfer functions when called with a transfer function (verified of 4.1.2). +// When called with a tf, pfss should of course return a tf. +// +// <-- CLI SHELL MODE --> + +tf = syslin("c", 1/%s); +ss = tf2ss(tf); + +if pfss(tf)<>list(tf) then pause;end +if pfss(ss)<>list(ss) then pause;end diff --git a/modules/cacsd/tests/nonreg_tests/bug_4275.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_4275.dia.ref new file mode 100755 index 000000000..a5fea1aa7 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_4275.dia.ref @@ -0,0 +1,18 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2009 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// <-- Non-regression test for bug 4275 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=4275 +// +// <-- Short Description --> +// g_margin function does not work properly +s=poly(0,'s'); +L = syslin('c',1,s*(1+s)^2); +[g,f]=g_margin(L); +if abs(f*2*%pi-1)>100*%eps then bugmes();quit;end +if abs(g-20*log10(2))>100*%eps then bugmes();quit;end diff --git a/modules/cacsd/tests/nonreg_tests/bug_4275.tst b/modules/cacsd/tests/nonreg_tests/bug_4275.tst new file mode 100755 index 000000000..e3f7f4bdc --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_4275.tst @@ -0,0 +1,20 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2009 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +// <-- Non-regression test for bug 4275 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=4275 +// +// <-- Short Description --> +// g_margin function does not work properly + +s=poly(0,'s'); +L = syslin('c',1,s*(1+s)^2); +[g,f]=g_margin(L); +if abs(f*2*%pi-1)>100*%eps then pause,end +if abs(g-20*log10(2))>100*%eps then pause,end diff --git a/modules/cacsd/tests/nonreg_tests/bug_4297.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_4297.dia.ref new file mode 100755 index 000000000..a51679780 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_4297.dia.ref @@ -0,0 +1,15 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2009 - DIGITEO - Sylvestre LEDRU +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// <-- Non-regression test for bug 4297 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=4297 +// +// <-- Short Description --> +// A spelling mistake was causing in some cases with the pfss function +W=ssrand(1,1,6); +if execstr("pfss(W,10);","errcatch")<>0 then bugmes();quit;end diff --git a/modules/cacsd/tests/nonreg_tests/bug_4297.tst b/modules/cacsd/tests/nonreg_tests/bug_4297.tst new file mode 100755 index 000000000..fa19b3070 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_4297.tst @@ -0,0 +1,20 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2009 - DIGITEO - Sylvestre LEDRU +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +// <-- Non-regression test for bug 4297 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=4297 +// +// <-- Short Description --> +// A spelling mistake was causing in some cases with the pfss function +W=ssrand(1,1,6); +if execstr("pfss(W,10);","errcatch")<>0 then pause,end + + + + diff --git a/modules/cacsd/tests/nonreg_tests/bug_4319.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_4319.dia.ref new file mode 100755 index 000000000..048ce220c --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_4319.dia.ref @@ -0,0 +1,48 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2009 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// <-- Non-regression test for bug 4319 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=4319 +// +// <-- Short Description --> +// The function nthresh called by the function parrt in ccontrg.sci is +// missing +//2 states +A = [-5,-6; + 6,-4] + A = + + - 5. - 6. + 6. - 4. +//five inputs +B = [0,-14,17,2,9; + 2,17,19,-10,-9] + B = + + 0. - 14. 17. 2. 9. + 2. 17. 19. - 10. - 9. +//three outputs +C = [0,-17; + 3,-14; + 8,7] + C = + + 0. - 17. + 3. - 14. + 8. 7. +D = [1,1,1,3,4; + 1,1,6,0,2; + 1,1,7,5,5] + D = + + 1. 1. 1. 3. 4. + 1. 1. 6. 0. 2. + 1. 1. 7. 5. 5. +PP=syslin('c',A,B,C,D); +gopt=gamitg(PP,[1 1]); +if execstr('KK=ccontrg(PP,[1 1],gopt+0.1)','errcatch')<>0 then bugmes();quit;end diff --git a/modules/cacsd/tests/nonreg_tests/bug_4319.tst b/modules/cacsd/tests/nonreg_tests/bug_4319.tst new file mode 100755 index 000000000..415c4791b --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_4319.tst @@ -0,0 +1,33 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2009 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +// <-- Non-regression test for bug 4319 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=4319 +// +// <-- Short Description --> +// The function nthresh called by the function parrt in ccontrg.sci is +// missing +//2 states +A = [-5,-6; + 6,-4] +//five inputs +B = [0,-14,17,2,9; + 2,17,19,-10,-9] +//three outputs +C = [0,-17; + 3,-14; + 8,7] + +D = [1,1,1,3,4; + 1,1,6,0,2; + 1,1,7,5,5] +PP=syslin('c',A,B,C,D); +gopt=gamitg(PP,[1 1]); + +if execstr('KK=ccontrg(PP,[1 1],gopt+0.1)','errcatch')<>0 then pause,end diff --git a/modules/cacsd/tests/nonreg_tests/bug_4383.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_4383.dia.ref new file mode 100755 index 000000000..21e6ad739 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_4383.dia.ref @@ -0,0 +1,24 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2013 - Scilab Enterprises - Charlotte HECQUET +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// <-- CLI SHELL MODE --> +// +// <-- ENGLISH IMPOSED --> +// +// <-- Non-regression test for bug 4383 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=4383 +// +// <-- Short Description --> +// csim with "step" and "impuls" does not work with direct feedthrough. +s = poly(0,'s'); +t = 0:5; +u = ones(1,6); +G = syslin('c',1+s,2+s); +y = csim('step',t,G); +ya = csim(u,t,G); +assert_checkalmostequal(y,ya); diff --git a/modules/cacsd/tests/nonreg_tests/bug_4383.tst b/modules/cacsd/tests/nonreg_tests/bug_4383.tst new file mode 100755 index 000000000..5b8f01891 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_4383.tst @@ -0,0 +1,26 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2013 - Scilab Enterprises - Charlotte HECQUET +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +// <-- CLI SHELL MODE --> +// +// <-- ENGLISH IMPOSED --> +// +// <-- Non-regression test for bug 4383 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=4383 +// +// <-- Short Description --> +// csim with "step" and "impuls" does not work with direct feedthrough. + +s = poly(0,'s'); +t = 0:5; +u = ones(1,6); +G = syslin('c',1+s,2+s); +y = csim('step',t,G); +ya = csim(u,t,G); +assert_checkalmostequal(y,ya); diff --git a/modules/cacsd/tests/nonreg_tests/bug_4505.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_4505.dia.ref new file mode 100755 index 000000000..2cc42d62d --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_4505.dia.ref @@ -0,0 +1,43 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2010 -INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// <-- Non-regression test for bug 4505 --> +// +// <-- ENGLISH IMPOSED --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=4505 +// +// <-- Short Description --> +// A red vertical bar appeared for some bode plots of continuous time systems. +//check there is not Shannon limit curve for continuous systems +sys=syslin('c',1/(1+%s)) + sys = + + 1 + ----- + 1 + s +clf();bode(sys,0.001,1000) +f=gcf(); +a_phase=f.children(1); +a_modulus=f.children(2); +phase_curves=a_phase.children; +if size(phase_curves,'*')<>1 then bugmes();quit;end +modulus_curves=a_modulus.children; +if size(modulus_curves,'*')<>1 then bugmes();quit;end +//check there is Shannon limit curve for discrete systems +sys=dscr(sys,0.01); +clf();bode(sys,0.001,1000) +WARNING: calfrq: Frequencies beyond Nyquist frequency are ignored. +f=gcf(); +a_phase=f.children(1); +a_modulus=f.children(2); +phase_curves=a_phase.children; +if size(phase_curves,'*')<>2 then bugmes();quit;end +if or(size(phase_curves(1).data)<>[2 2]) then bugmes();quit;end +modulus_curves=a_modulus.children; +if size(modulus_curves,'*')<>2 then bugmes();quit;end +if or(size(modulus_curves(1).data)<>[2 2]) then bugmes();quit;end diff --git a/modules/cacsd/tests/nonreg_tests/bug_4505.tst b/modules/cacsd/tests/nonreg_tests/bug_4505.tst new file mode 100755 index 000000000..a34dd3d13 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_4505.tst @@ -0,0 +1,41 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2010 -INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +// <-- Non-regression test for bug 4505 --> +// +// <-- ENGLISH IMPOSED --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=4505 +// +// <-- Short Description --> +// A red vertical bar appeared for some bode plots of continuous time systems. + + +//check there is not Shannon limit curve for continuous systems +sys=syslin('c',1/(1+%s)) +clf();bode(sys,0.001,1000) +f=gcf(); +a_phase=f.children(1); +a_modulus=f.children(2); +phase_curves=a_phase.children; +if size(phase_curves,'*')<>1 then pause,end +modulus_curves=a_modulus.children; +if size(modulus_curves,'*')<>1 then pause,end + +//check there is Shannon limit curve for discrete systems +sys=dscr(sys,0.01); +clf();bode(sys,0.001,1000) +f=gcf(); +a_phase=f.children(1); +a_modulus=f.children(2); +phase_curves=a_phase.children; +if size(phase_curves,'*')<>2 then pause,end +if or(size(phase_curves(1).data)<>[2 2]) then pause,end +modulus_curves=a_modulus.children; +if size(modulus_curves,'*')<>2 then pause,end +if or(size(modulus_curves(1).data)<>[2 2]) then pause,end diff --git a/modules/cacsd/tests/nonreg_tests/bug_4596.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_4596.dia.ref new file mode 100755 index 000000000..56492b5c8 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_4596.dia.ref @@ -0,0 +1,25 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2009 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// <-- Non-regression test for bug 4596 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=4596 +// +// <-- Short Description --> +// g_margin fails to return the gain margins in some cases. +s=%s; +K=485000.; +h=syslin('c', K / ( s * (s+100)^2 ) ); +[gm,fr]=g_margin(h) + fr = + + 15.915494 + gm = + + 12.305765 +if gm==[] then bugmes();quit;end +if abs(2*%pi*fr-100)>100*%eps then bugmes();quit;end diff --git a/modules/cacsd/tests/nonreg_tests/bug_4596.tst b/modules/cacsd/tests/nonreg_tests/bug_4596.tst new file mode 100755 index 000000000..401296700 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_4596.tst @@ -0,0 +1,22 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2009 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +// <-- Non-regression test for bug 4596 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=4596 +// +// <-- Short Description --> +// g_margin fails to return the gain margins in some cases. + +s=%s; +K=485000.; +h=syslin('c', K / ( s * (s+100)^2 ) ); + +[gm,fr]=g_margin(h) +if gm==[] then pause,end +if abs(2*%pi*fr-100)>100*%eps then pause,end diff --git a/modules/cacsd/tests/nonreg_tests/bug_4731.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_4731.dia.ref new file mode 100755 index 000000000..d32e879f3 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_4731.dia.ref @@ -0,0 +1,25 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2013 - Scilab Enterprises - Charlotte HECQUET +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// +// <-- Non-regression test for bug 4731 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=4731 +// +// <-- Short Description --> +// lqr fails if dt argument of syslin is a number +A=[0.5 0.3;0.3 0.9];B=[0.9; 0.3]; +Q=diag([2,5]);R=2; +Big=sysdiag(Q,R); +[w,wp]=fullrf(Big);C1=wp(:,1:2);D12=wp(:,3:$); +P=syslin(1,A,B,C1,D12); +[K,X]=lqr(P); +S=spec(A+B*K); +R=norm(A'*X*A-(A'*X*B)*pinv(B'*X*B+R)*(B'*X*A)+Q-X,1); +assert_checkalmostequal(real(S),[0.24977769272823835; 0.47346570058644721]); +assert_checkequal(imag(S),[0;0]); +assert_checktrue(R<100*%eps); diff --git a/modules/cacsd/tests/nonreg_tests/bug_4731.tst b/modules/cacsd/tests/nonreg_tests/bug_4731.tst new file mode 100755 index 000000000..09cbbf80c --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_4731.tst @@ -0,0 +1,26 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2013 - Scilab Enterprises - Charlotte HECQUET +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// +// <-- Non-regression test for bug 4731 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=4731 +// +// <-- Short Description --> +// lqr fails if dt argument of syslin is a number + +A=[0.5 0.3;0.3 0.9];B=[0.9; 0.3]; +Q=diag([2,5]);R=2; +Big=sysdiag(Q,R); +[w,wp]=fullrf(Big);C1=wp(:,1:2);D12=wp(:,3:$); +P=syslin(1,A,B,C1,D12); +[K,X]=lqr(P); +S=spec(A+B*K); +R=norm(A'*X*A-(A'*X*B)*pinv(B'*X*B+R)*(B'*X*A)+Q-X,1); +assert_checkalmostequal(real(S),[0.24977769272823835; 0.47346570058644721]); +assert_checkequal(imag(S),[0;0]); +assert_checktrue(R<100*%eps); diff --git a/modules/cacsd/tests/nonreg_tests/bug_4767.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_4767.dia.ref new file mode 100755 index 000000000..d34c9817c --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_4767.dia.ref @@ -0,0 +1,19 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2009 - DIGITEO - Allan CORNET +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// <-- Non-regression test for bug 4767 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=4767 +// +// <-- Short Description --> +// minreal.sci contains a couple of references to the variable 'T', which is not defined in the function +A = [-eye(2,2),rand(2,2);zeros(2,2),-2*eye(2,2)]; +B = [rand(2,2);zeros(2,2)]; +C = rand(2,4); +sl = syslin('c',A,B,C); +ierr = execstr('slb = minreal(sl);','errcatch'); +if ierr <> 0 then bugmes();quit;end diff --git a/modules/cacsd/tests/nonreg_tests/bug_4767.tst b/modules/cacsd/tests/nonreg_tests/bug_4767.tst new file mode 100755 index 000000000..86d1fc63f --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_4767.tst @@ -0,0 +1,22 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2009 - DIGITEO - Allan CORNET +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +// <-- Non-regression test for bug 4767 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=4767 +// +// <-- Short Description --> +// minreal.sci contains a couple of references to the variable 'T', which is not defined in the function + +A = [-eye(2,2),rand(2,2);zeros(2,2),-2*eye(2,2)]; +B = [rand(2,2);zeros(2,2)]; +C = rand(2,4); +sl = syslin('c',A,B,C); +ierr = execstr('slb = minreal(sl);','errcatch'); +if ierr <> 0 then pause,end + diff --git a/modules/cacsd/tests/nonreg_tests/bug_4799.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_4799.dia.ref new file mode 100755 index 000000000..5b974550e --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_4799.dia.ref @@ -0,0 +1,25 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2010 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// <-- CLI SHELL MODE --> +// <-- Non-regression test for bug 4799 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=4799 +// +// <-- Short Description --> +// Some times the bode, nyquist , ... function report a "non convergence" error +s = poly(0,'s'); +tau=.011; a=82.794; b=103.089; +S = a/(s*tau-b); +n=22; Sn = (1+S)^n-1; Snw = syslin('c',Sn); +if execstr('[frq,bnds,splitf]=calfrq(Snw,100,20000)','errcatch')<>0 then bugmes();quit;end +if execstr('[frq,bnds,splitf]=calfrq(Snw,0.01,1000000)','errcatch')<>0 then bugmes();quit;end +s = poly(0,'s'); +tau=11; a=82.794; b=103.089; +S = a/(s*tau-b); +n=20; Sn = (1+S)^n-1; Snw = syslin('c',Sn); +if execstr('[frq,bnds,splitf]=calfrq(Snw,0.1,20)','errcatch')<>0 then bugmes();quit;end diff --git a/modules/cacsd/tests/nonreg_tests/bug_4799.tst b/modules/cacsd/tests/nonreg_tests/bug_4799.tst new file mode 100755 index 000000000..90d4b2965 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_4799.tst @@ -0,0 +1,31 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2010 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +// <-- CLI SHELL MODE --> + +// <-- Non-regression test for bug 4799 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=4799 +// +// <-- Short Description --> +// Some times the bode, nyquist , ... function report a "non convergence" error + + +s = poly(0,'s'); +tau=.011; a=82.794; b=103.089; +S = a/(s*tau-b); +n=22; Sn = (1+S)^n-1; Snw = syslin('c',Sn); + +if execstr('[frq,bnds,splitf]=calfrq(Snw,100,20000)','errcatch')<>0 then pause,end +if execstr('[frq,bnds,splitf]=calfrq(Snw,0.01,1000000)','errcatch')<>0 then pause,end + +s = poly(0,'s'); +tau=11; a=82.794; b=103.089; +S = a/(s*tau-b); +n=20; Sn = (1+S)^n-1; Snw = syslin('c',Sn); +if execstr('[frq,bnds,splitf]=calfrq(Snw,0.1,20)','errcatch')<>0 then pause,end diff --git a/modules/cacsd/tests/nonreg_tests/bug_549.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_549.dia.ref new file mode 100755 index 000000000..b44591994 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_549.dia.ref @@ -0,0 +1,30 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) ????-2008 - INRIA +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// <-- Non-regression test for bug 549 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=549 +// +// <-- Short Description --> +// Bug Report Id: 0321220031018153842 +// Le probl�me n'intervient qu'avec la version Linux de Scilab !!! +// On Scilab 2.7 with " csim " function +// The Error Messages are: +// warning +// matrix is close to singular or badly scaled. rcond = 1.0000E-08 +// computing least squares solution. (see lsq) +// Commands: G = syslin('c', (1-p)/((p+1)*(p+3))); +// t = [0:1/100:8]; +// csim('step',t,G); +// Allard Benoit on Linux version 3.0 / 9.1 distribution Debian / Mandrake with WMaker / KDE as window manager +// France +// November 18, 2003 at 15:38:42 +// <-- CLI SHELL MODE --> +p = poly(0,'p'); +G = syslin('c', (1-p)/((p+1)*(p+3))); +t = [0:1/100:8]; +csim('step',t,G); diff --git a/modules/cacsd/tests/nonreg_tests/bug_549.tst b/modules/cacsd/tests/nonreg_tests/bug_549.tst new file mode 100755 index 000000000..7a0c8e444 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_549.tst @@ -0,0 +1,33 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) ????-2008 - INRIA +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +// <-- Non-regression test for bug 549 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=549 +// +// <-- Short Description --> +// Bug Report Id: 0321220031018153842 +// Le probl�me n'intervient qu'avec la version Linux de Scilab !!! +// On Scilab 2.7 with " csim " function +// The Error Messages are: +// warning +// matrix is close to singular or badly scaled. rcond = 1.0000E-08 +// computing least squares solution. (see lsq) +// Commands: G = syslin('c', (1-p)/((p+1)*(p+3))); +// t = [0:1/100:8]; +// csim('step',t,G); +// Allard Benoit on Linux version 3.0 / 9.1 distribution Debian / Mandrake with WMaker / KDE as window manager +// France +// November 18, 2003 at 15:38:42 + +// <-- CLI SHELL MODE --> + +p = poly(0,'p'); +G = syslin('c', (1-p)/((p+1)*(p+3))); +t = [0:1/100:8]; +csim('step',t,G); diff --git a/modules/cacsd/tests/nonreg_tests/bug_6538.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_6538.dia.ref new file mode 100755 index 000000000..fc918ca0c --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_6538.dia.ref @@ -0,0 +1,20 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2012 - Scilab Enterprises - Cedric Delamarre +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// +// <-- Non-regression test for bug 6538 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=6538 +// +// <-- Short Description --> +// unobs() ignores its 'tol' argument when it is present, always calculating its ow +a = ones(3, 3); +b = ones(3, 3) * 2; +c = unobs(a, b); +assert_checkequal(c, 2); +c = unobs(a, b, 0.8); +assert_checkequal(c, 3); diff --git a/modules/cacsd/tests/nonreg_tests/bug_6538.tst b/modules/cacsd/tests/nonreg_tests/bug_6538.tst new file mode 100755 index 000000000..0d523eafe --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_6538.tst @@ -0,0 +1,23 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2012 - Scilab Enterprises - Cedric Delamarre +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// +// <-- Non-regression test for bug 6538 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=6538 +// +// <-- Short Description --> +// unobs() ignores its 'tol' argument when it is present, always calculating its ow + +a = ones(3, 3); +b = ones(3, 3) * 2; + +c = unobs(a, b); +assert_checkequal(c, 2); + +c = unobs(a, b, 0.8); +assert_checkequal(c, 3); diff --git a/modules/cacsd/tests/nonreg_tests/bug_6635.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_6635.dia.ref new file mode 100755 index 000000000..aab1d59dd --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_6635.dia.ref @@ -0,0 +1,29 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2010 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// <-- Non-regression test for bug 6635 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=6635 +// +// <-- Short Description --> +// Incorrectly drawn Bode plots (calfrq bug). +num=real(poly([0.75788802401980426;-0.74488662950015194;0.71042740727148268+%i*0.32150242887306801; + 0.71042740727148268-%i*0.32150242887306801;0.88108463001435433; + 0.65688756930625614+%i*0.70651639282163481;0.65688756930625614-%i*0.70651639282163481; + 0.87396240470428910+%i*0.38544888973757035;0.87396240470428910-%i*0.38544888973757035; + 0.96638845127253781+%i*0.20986303449468094;0.96638845127253781-%i*0.20986303449468094; + 0.99463810059227120+%i*0.1259837606842592;0.99463810059227120-%i*0.1259837606842592; + -8.33517712317947712],'z')); +den=real(poly([0.44209498830922006+%i*0.58376435045145136;0.44209498830922006-%i*0.58376435045145136; + 0.74984178464015416+%i*0.23826316198364383;0.74984178464015416-%i*0.23826316198364383; + 0.88908657183242579;0.78005500218689083;0.73910333806015660+%i*0.66143232274074371; + 0.73910333806015660-%i*0.66143232274074371;0.91630828475086279+%i*0.37654428560847641; + 0.91630828475086279-%i*0.37654428560847641;0.97669896242019394+%i*0.19145035111644124; + 0.97669896242019394-%i*0.19145035111644124;0.98956694435920334+%i*0.09896014014807389; + 0.98956694435920334-%i*0.09896014014807389],'z')); +[frq,bnds,splitf]=calfrq(rlist(num,den,0.00999897500976181),1,10); +if or(diff(frq)<0) then bugmes();quit;end diff --git a/modules/cacsd/tests/nonreg_tests/bug_6635.tst b/modules/cacsd/tests/nonreg_tests/bug_6635.tst new file mode 100755 index 000000000..d563c57e7 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_6635.tst @@ -0,0 +1,36 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2010 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +// <-- Non-regression test for bug 6635 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=6635 +// +// <-- Short Description --> +// Incorrectly drawn Bode plots (calfrq bug). + +num=real(poly([0.75788802401980426;-0.74488662950015194;0.71042740727148268+%i*0.32150242887306801; + 0.71042740727148268-%i*0.32150242887306801;0.88108463001435433; + 0.65688756930625614+%i*0.70651639282163481;0.65688756930625614-%i*0.70651639282163481; + 0.87396240470428910+%i*0.38544888973757035;0.87396240470428910-%i*0.38544888973757035; + 0.96638845127253781+%i*0.20986303449468094;0.96638845127253781-%i*0.20986303449468094; + 0.99463810059227120+%i*0.1259837606842592;0.99463810059227120-%i*0.1259837606842592; + -8.33517712317947712],'z')); + + + +den=real(poly([0.44209498830922006+%i*0.58376435045145136;0.44209498830922006-%i*0.58376435045145136; + 0.74984178464015416+%i*0.23826316198364383;0.74984178464015416-%i*0.23826316198364383; + 0.88908657183242579;0.78005500218689083;0.73910333806015660+%i*0.66143232274074371; + 0.73910333806015660-%i*0.66143232274074371;0.91630828475086279+%i*0.37654428560847641; + 0.91630828475086279-%i*0.37654428560847641;0.97669896242019394+%i*0.19145035111644124; + 0.97669896242019394-%i*0.19145035111644124;0.98956694435920334+%i*0.09896014014807389; + 0.98956694435920334-%i*0.09896014014807389],'z')); + + +[frq,bnds,splitf]=calfrq(rlist(num,den,0.00999897500976181),1,10); +if or(diff(frq)<0) then pause,end diff --git a/modules/cacsd/tests/nonreg_tests/bug_6744.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_6744.dia.ref new file mode 100755 index 000000000..361d66ac8 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_6744.dia.ref @@ -0,0 +1,23 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2010 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// <-- Non-regression test for bug 6744 --> +// <-- CLI SHELL MODE --> +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=6744 +// +// <-- Short Description --> +// p_margin() returns an erroneous result +z=poly(0,'z'); +num=(0.0373327-0.0405775*z-0.1413155*z^2+0.1783403*z^3); +den=(-0.0373327+0.0405775*z+0.1413155*z^2-0.1783403*z^3+0.04867*z^4-0.04007*z^5-0.17482*z^6+0.2*z^7); +H=syslin(1.0,num/den); +[m,fr]=p_margin(H); +r=repfreq(H,fr); +//check if fr give a response with modulus=1 +if abs(abs(r)-1)>1d-10 then bugmes();quit;end +if abs(m-58.03)>0.01 then bugmes();quit;end +if abs(m-pmodulo(atand(imag(r),real(r))-180,360))>1d-10 then bugmes();quit;end diff --git a/modules/cacsd/tests/nonreg_tests/bug_6744.tst b/modules/cacsd/tests/nonreg_tests/bug_6744.tst new file mode 100755 index 000000000..2e83cfbc4 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_6744.tst @@ -0,0 +1,26 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2010 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +// <-- Non-regression test for bug 6744 --> +// <-- CLI SHELL MODE --> +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=6744 +// +// <-- Short Description --> +// p_margin() returns an erroneous result +z=poly(0,'z'); +num=(0.0373327-0.0405775*z-0.1413155*z^2+0.1783403*z^3); +den=(-0.0373327+0.0405775*z+0.1413155*z^2-0.1783403*z^3+0.04867*z^4-0.04007*z^5-0.17482*z^6+0.2*z^7); +H=syslin(1.0,num/den); +[m,fr]=p_margin(H); + + +r=repfreq(H,fr); +//check if fr give a response with modulus=1 +if abs(abs(r)-1)>1d-10 then pause,end +if abs(m-58.03)>0.01 then pause,end +if abs(m-pmodulo(atand(imag(r),real(r))-180,360))>1d-10 then pause,end diff --git a/modules/cacsd/tests/nonreg_tests/bug_6745.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_6745.dia.ref new file mode 100755 index 000000000..a5a2e52ae --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_6745.dia.ref @@ -0,0 +1,21 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2010 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// <-- Non-regression test for bug 6745 --> +// <-- CLI SHELL MODE --> +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=6745 +// +// <-- Short Description --> +// g_margin() returned an erroneous result +z=poly(0,'z'); +Hbo=syslin(1,(0.042-0.03933*z-0.15407*z^2+0.18518*z^3+6.939e-18*z^4)/(-0.042+0.088*z+0.114*z^2-0.36*z^3+0.2*z^4)); +[m,fr]=g_margin(Hbo); +if abs(fr-0.5)>1d-10 then bugmes();quit;end +r=repfreq(Hbo,fr); +if ~isreal(r,1e-10) then bugmes();quit;end +if real(r)>0 then bugmes();quit;end +if abs(20*log10(1/abs(r))-m)>1d-10 then bugmes();quit;end diff --git a/modules/cacsd/tests/nonreg_tests/bug_6745.tst b/modules/cacsd/tests/nonreg_tests/bug_6745.tst new file mode 100755 index 000000000..aeecb0a13 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_6745.tst @@ -0,0 +1,23 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2010 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +// <-- Non-regression test for bug 6745 --> +// <-- CLI SHELL MODE --> +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=6745 +// +// <-- Short Description --> +// g_margin() returned an erroneous result + +z=poly(0,'z'); +Hbo=syslin(1,(0.042-0.03933*z-0.15407*z^2+0.18518*z^3+6.939e-18*z^4)/(-0.042+0.088*z+0.114*z^2-0.36*z^3+0.2*z^4)); +[m,fr]=g_margin(Hbo); +if abs(fr-0.5)>1d-10 then pause,end +r=repfreq(Hbo,fr); +if ~isreal(r,1e-10) then pause,end +if real(r)>0 then pause,end +if abs(20*log10(1/abs(r))-m)>1d-10 then pause,end diff --git a/modules/cacsd/tests/nonreg_tests/bug_68.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_68.dia.ref new file mode 100755 index 000000000..f2305dc12 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_68.dia.ref @@ -0,0 +1,123 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2005-2008 - INRIA -Serge Steer +// Copyright (C) 2009-2011 - DIGITEO - Michael Baudin +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// <-- Non-regression test for bug 68 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=68 +// +// <-- Short Description --> +//Precision problem with the trzeros function, +// +// sort_merge -- +// Returns the sorted array x. +// Arguments +// x : the array to sort +// compfun : the comparison function +// data : an optional data to pass to the comparison function +// Bruno Pincon +// "quelques tests de rapidit´e entre diff´erents logiciels matriciels" +// Modified by Michael Baudin to manage a comparison function +// +function [x] = sort_merge ( varargin ) + [lhs,rhs]=argn(); + if ( ( rhs<>1 ) & ( rhs<>2 ) & ( rhs<>3 ) ) then + errmsg = sprintf("Unexpected number of arguments : %d provided while 1, 2 or 3 are expected.",rhs); + error(errmsg) + end + // Get the array x + x = varargin(1); + // Get the comparison function compfun + if rhs==1 then + compfun = sort_merge_comparison; + else + compfun = varargin(2); + if ( rhs == 3 ) then + data = varargin(3); + end + end + // Proceed... + n = length(x) + if n > 1 then + m = floor(n/2); + p = n-m + if ( rhs == 3 ) then + x1 = sort_merge ( x(1:m) , compfun , data ) + x2 = sort_merge ( x(m+1:n) , compfun , data ) + else + x1 = sort_merge ( x(1:m) , compfun ) + x2 = sort_merge ( x(m+1:n) , compfun ) + end + i = 1; + i1 = 1; + i2 = 1; + for i = 1:n + if ( rhs == 3 ) then + order = compfun ( x1(i1) , x2(i2) , data ); + else + order = compfun ( x1(i1) , x2(i2) ); + end + if order<=0 then + x(i) = x1(i1) + i1 = i1+1 + if (i1 > m) then + x(i+1:n) = x2(i2:p) + break + end + else + x(i) = x2(i2) + i2 = i2+1 + if (i2 > p) then + x(i+1:n) = x1(i1:m) + break + end + end + end + end +endfunction +// +// sort_merge_comparison -- +// The default comparison function used in the sort-merge. +// Returns -1 if x < y, +// returns 0 if x==y, +// returns +1 if x > y +// +function order = sort_merge_comparison ( x , y ) + if x < y then + order = -1 + elseif x==y then + order = 0 + else + order = 1 + end +endfunction +function order = mycomparison ( x , y , data ) + order = assert_comparecomplex(x,y,data(1),data(2)) +endfunction +s=poly(0,"s"); +A=[-113.63636,-2840909.1,113.63636,2840909.1,0,0; +1,0,0,0,0,0; +347.22222,8680555.6,-366.66667,-11111111,19.444444,2430555.6; +0,0,1,0,0,0; +0,0,50,6250000,-50,-6250000; +0,0,0,0,1,0]; +System =syslin("c",A,[1;0;0;0;0;0],[0 0 0 1 0 0]); +Td=1/0.1; +alpha=1000; +Ti=1/0.1; +Tr=1/10000; +Kp=1e2; +PID=tf2ss(syslin("c",Kp*(1+Td*s)/(1+Td/alpha*s))); +Hrond1=PID*System; +closed1=(1/.(Hrond1)); +ClosedZeros1=trzeros(closed1); +Hrond2=System*PID; +closed2=(1/.(Hrond2)); +ClosedZeros2=trzeros(closed2); +computed1 = sort_merge ( ClosedZeros1 , mycomparison , [ 10 * %eps , 0.0 ] ); +computed2 = sort_merge ( ClosedZeros2 , mycomparison , [ 10 * %eps , 0.0 ] ); +assert_checkalmostequal ( computed1 , computed2, [] , 1.e-7 ); diff --git a/modules/cacsd/tests/nonreg_tests/bug_68.tst b/modules/cacsd/tests/nonreg_tests/bug_68.tst new file mode 100755 index 000000000..720dd6d75 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_68.tst @@ -0,0 +1,137 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2005-2008 - INRIA -Serge Steer +// Copyright (C) 2009-2011 - DIGITEO - Michael Baudin +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +// <-- Non-regression test for bug 68 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=68 +// +// <-- Short Description --> +//Precision problem with the trzeros function, + + +// +// sort_merge -- +// Returns the sorted array x. +// Arguments +// x : the array to sort +// compfun : the comparison function +// data : an optional data to pass to the comparison function +// Bruno Pincon +// "quelques tests de rapidit´e entre diff´erents logiciels matriciels" +// Modified by Michael Baudin to manage a comparison function +// +function [x] = sort_merge ( varargin ) + [lhs,rhs]=argn(); + if ( ( rhs<>1 ) & ( rhs<>2 ) & ( rhs<>3 ) ) then + errmsg = sprintf("Unexpected number of arguments : %d provided while 1, 2 or 3 are expected.",rhs); + error(errmsg) + end + // Get the array x + x = varargin(1); + // Get the comparison function compfun + if rhs==1 then + compfun = sort_merge_comparison; + else + compfun = varargin(2); + if ( rhs == 3 ) then + data = varargin(3); + end + end + // Proceed... + n = length(x) + if n > 1 then + m = floor(n/2); + p = n-m + if ( rhs == 3 ) then + x1 = sort_merge ( x(1:m) , compfun , data ) + x2 = sort_merge ( x(m+1:n) , compfun , data ) + else + x1 = sort_merge ( x(1:m) , compfun ) + x2 = sort_merge ( x(m+1:n) , compfun ) + end + i = 1; + i1 = 1; + i2 = 1; + for i = 1:n + if ( rhs == 3 ) then + order = compfun ( x1(i1) , x2(i2) , data ); + else + order = compfun ( x1(i1) , x2(i2) ); + end + if order<=0 then + x(i) = x1(i1) + i1 = i1+1 + if (i1 > m) then + x(i+1:n) = x2(i2:p) + break + end + else + x(i) = x2(i2) + i2 = i2+1 + if (i2 > p) then + x(i+1:n) = x1(i1:m) + break + end + end + end + end +endfunction + +// +// sort_merge_comparison -- +// The default comparison function used in the sort-merge. +// Returns -1 if x < y, +// returns 0 if x==y, +// returns +1 if x > y +// +function order = sort_merge_comparison ( x , y ) + if x < y then + order = -1 + elseif x==y then + order = 0 + else + order = 1 + end +endfunction + +function order = mycomparison ( x , y , data ) + order = assert_comparecomplex(x,y,data(1),data(2)) +endfunction + + +s=poly(0,"s"); +A=[-113.63636,-2840909.1,113.63636,2840909.1,0,0; +1,0,0,0,0,0; +347.22222,8680555.6,-366.66667,-11111111,19.444444,2430555.6; +0,0,1,0,0,0; +0,0,50,6250000,-50,-6250000; +0,0,0,0,1,0]; + +System =syslin("c",A,[1;0;0;0;0;0],[0 0 0 1 0 0]); + +Td=1/0.1; +alpha=1000; +Ti=1/0.1; +Tr=1/10000; +Kp=1e2; +PID=tf2ss(syslin("c",Kp*(1+Td*s)/(1+Td/alpha*s))); + +Hrond1=PID*System; +closed1=(1/.(Hrond1)); +ClosedZeros1=trzeros(closed1); + +Hrond2=System*PID; +closed2=(1/.(Hrond2)); +ClosedZeros2=trzeros(closed2); + +computed1 = sort_merge ( ClosedZeros1 , mycomparison , [ 10 * %eps , 0.0 ] ); +computed2 = sort_merge ( ClosedZeros2 , mycomparison , [ 10 * %eps , 0.0 ] ); + +assert_checkalmostequal ( computed1 , computed2, [] , 1.e-7 ); + diff --git a/modules/cacsd/tests/nonreg_tests/bug_6829.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_6829.dia.ref new file mode 100755 index 000000000..2616fdd1b --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_6829.dia.ref @@ -0,0 +1,26 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2009 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// <-- Non-regression test for bug 6829 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=6829 +// +// <-- Short Description --> +// kpure fails to compute gains when applied to an high degree system +num=real(poly([-1+%i*1, -1-%i*1, 2+%i*8 2-%i*8 -2.5+%i*13 -2.5-%i*13],'s')); +den=real(poly([1 1 3+%i*3 3-%i*3 -15+%i*7 -15-%i*7 -3 -7 -11],'s')); +h=num/den; +[K,Y]=kpure(h); +n=size(K,'*'); +if n<>4 then bugmes();quit;end +for i=1:n + r=roots(denom(h/.K(i))); + r=r(abs(real(r))<1e-6);//pure imaginary + r=r(imag(r)>0); //retains only positive imaginary part + if r==[] then bugmes();quit;end + if abs(r-Y(i))>1e-10 then bugmes();quit;end +end diff --git a/modules/cacsd/tests/nonreg_tests/bug_6829.tst b/modules/cacsd/tests/nonreg_tests/bug_6829.tst new file mode 100755 index 000000000..d69cffc37 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_6829.tst @@ -0,0 +1,29 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2009 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +// <-- Non-regression test for bug 6829 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=6829 +// +// <-- Short Description --> +// kpure fails to compute gains when applied to an high degree system + +num=real(poly([-1+%i*1, -1-%i*1, 2+%i*8 2-%i*8 -2.5+%i*13 -2.5-%i*13],'s')); +den=real(poly([1 1 3+%i*3 3-%i*3 -15+%i*7 -15-%i*7 -3 -7 -11],'s')); +h=num/den; + +[K,Y]=kpure(h); +n=size(K,'*'); +if n<>4 then pause,end +for i=1:n + r=roots(denom(h/.K(i))); + r=r(abs(real(r))<1e-6);//pure imaginary + r=r(imag(r)>0); //retains only positive imaginary part + if r==[] then pause,end + if abs(r-Y(i))>1e-10 then pause,end +end diff --git a/modules/cacsd/tests/nonreg_tests/bug_6883.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_6883.dia.ref new file mode 100755 index 000000000..3a7a8efa7 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_6883.dia.ref @@ -0,0 +1,19 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2010 - DIGITEO - Yann COLLETTE +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// <-- Non-regression test for bug 6883 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=6883 +// +// <-- Short Description --> +// black fails to plot integrators +s = poly (0, "s"); +P1= syslin('c',(1/s)); +frq=0.001:0.01:100; +[frq1,rep]=repfreq(P1,frq); +ierr = execstr('black(frq1,rep)','errcatch'); +if ierr then bugmes();quit;end diff --git a/modules/cacsd/tests/nonreg_tests/bug_6883.tst b/modules/cacsd/tests/nonreg_tests/bug_6883.tst new file mode 100755 index 000000000..34af58544 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_6883.tst @@ -0,0 +1,21 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2010 - DIGITEO - Yann COLLETTE +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +// <-- Non-regression test for bug 6883 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=6883 +// +// <-- Short Description --> +// black fails to plot integrators + +s = poly (0, "s"); +P1= syslin('c',(1/s)); +frq=0.001:0.01:100; +[frq1,rep]=repfreq(P1,frq); +ierr = execstr('black(frq1,rep)','errcatch'); +if ierr then pause,end diff --git a/modules/cacsd/tests/nonreg_tests/bug_7566.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_7566.dia.ref new file mode 100755 index 000000000..8266b2042 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_7566.dia.ref @@ -0,0 +1,43 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2009 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// <-- Non-regression test for bug 6829 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=6829 +// +// <-- Short Description --> +// The cacsd module graphic function (bode, black, nyquist,...) do not preserve the immediate_drawing property value. +fig=gcf(); +s=poly(0,'s'); +h=syslin('c',(s^2+2*0.9*10*s+100)/(s^2+2*0.3*10.1*s+102.01)); +clf();fig.immediate_drawing="off"; +bode(h); +if fig.immediate_drawing=="on" then bugmes();quit;end +clf();fig.immediate_drawing="off"; +gainplot(h); +if fig.immediate_drawing=="on" then bugmes();quit;end +clf();fig.immediate_drawing="off"; +show_margins(h); +if fig.immediate_drawing=="on" then bugmes();quit;end +clf();fig.immediate_drawing="off"; +black(h); +if fig.immediate_drawing=="on" then bugmes();quit;end +clf();fig.immediate_drawing="off"; +nyquist(h); +if fig.immediate_drawing=="on" then bugmes();quit;end +clf();fig.immediate_drawing="off"; +hallchart(); +if fig.immediate_drawing=="on" then bugmes();quit;end +clf();fig.immediate_drawing="off"; +nicholschart(); +if fig.immediate_drawing=="on" then bugmes();quit;end +clf();fig.immediate_drawing="off"; +sgrid(); +if fig.immediate_drawing=="on" then bugmes();quit;end +clf();fig.immediate_drawing="off"; +zgrid(); +if fig.immediate_drawing=="on" then bugmes();quit;end diff --git a/modules/cacsd/tests/nonreg_tests/bug_7566.tst b/modules/cacsd/tests/nonreg_tests/bug_7566.tst new file mode 100755 index 000000000..358c6420a --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_7566.tst @@ -0,0 +1,56 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2009 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +// <-- Non-regression test for bug 6829 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=6829 +// +// <-- Short Description --> +// The cacsd module graphic function (bode, black, nyquist,...) do not preserve the immediate_drawing property value. + +fig=gcf(); +s=poly(0,'s'); +h=syslin('c',(s^2+2*0.9*10*s+100)/(s^2+2*0.3*10.1*s+102.01)); + + +clf();fig.immediate_drawing="off"; +bode(h); +if fig.immediate_drawing=="on" then pause,end + +clf();fig.immediate_drawing="off"; +gainplot(h); +if fig.immediate_drawing=="on" then pause,end + +clf();fig.immediate_drawing="off"; +show_margins(h); +if fig.immediate_drawing=="on" then pause,end + +clf();fig.immediate_drawing="off"; +black(h); +if fig.immediate_drawing=="on" then pause,end + +clf();fig.immediate_drawing="off"; +nyquist(h); +if fig.immediate_drawing=="on" then pause,end + +clf();fig.immediate_drawing="off"; +hallchart(); +if fig.immediate_drawing=="on" then pause,end + +clf();fig.immediate_drawing="off"; +nicholschart(); +if fig.immediate_drawing=="on" then pause,end + +clf();fig.immediate_drawing="off"; +sgrid(); +if fig.immediate_drawing=="on" then pause,end + +clf();fig.immediate_drawing="off"; +zgrid(); +if fig.immediate_drawing=="on" then pause,end + diff --git a/modules/cacsd/tests/nonreg_tests/bug_7828.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_7828.dia.ref new file mode 100755 index 000000000..84a2f4bde --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_7828.dia.ref @@ -0,0 +1,17 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2013 - Scilab Enterprises - Charlotte HECQUET +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// +// <-- Non-regression test for bug 7828 --> +// +// <-- TEST WITH GRAPHIC --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=7828 +// +// <-- Short Description --> +// slight improvements in nicholschart. +assert_checktrue(execstr("nicholschart()","errcatch")==0); diff --git a/modules/cacsd/tests/nonreg_tests/bug_7828.tst b/modules/cacsd/tests/nonreg_tests/bug_7828.tst new file mode 100755 index 000000000..3ed0c4e35 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_7828.tst @@ -0,0 +1,18 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2013 - Scilab Enterprises - Charlotte HECQUET +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// +// <-- Non-regression test for bug 7828 --> +// +// <-- TEST WITH GRAPHIC --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=7828 +// +// <-- Short Description --> +// slight improvements in nicholschart. + +assert_checktrue(execstr("nicholschart()","errcatch")==0); diff --git a/modules/cacsd/tests/nonreg_tests/bug_7960.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_7960.dia.ref new file mode 100755 index 000000000..59a771bcc --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_7960.dia.ref @@ -0,0 +1,39 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2013 - Scilab Enterprises - Charlotte HECQUET +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// +// <-- TEST WITH GRAPHIC --> +// +// <-- Non-regression test for bug 7960 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=7960 +// +// <-- Short Description --> +// plzr can not produce a pole zero plot of many simple transfer functions +z=poly(0,'z'); +Num=0.64-1.5054092*z+z*z; +Den=0.970225-1.9652966*z+z*z; +HZ=Num/Den; +zr_ref=roots(Num); +pl_ref=roots(Den); +plzr(HZ); +a=gca(); +// Check poles +pl=a.children(3); +assert_checkequal(pl.type, "Polyline"); +assert_checkalmostequal(pl.data(1), real(pl_ref(1))); +assert_checkalmostequal(pl.data(2), real(pl_ref(2))); +assert_checkalmostequal(pl.data(3), imag(pl_ref(1))); +assert_checkalmostequal(pl.data(4), imag(pl_ref(2))); +// Check zeros +zr=a.children(4); +assert_checkequal(zr.type, "Polyline"); +assert_checkalmostequal(zr.data(1), real(zr_ref(1))); +assert_checkalmostequal(zr.data(2), real(zr_ref(2))); +assert_checkalmostequal(zr.data(3), imag(zr_ref(1))); +assert_checkalmostequal(zr.data(4), imag(zr_ref(2))); +close; diff --git a/modules/cacsd/tests/nonreg_tests/bug_7960.tst b/modules/cacsd/tests/nonreg_tests/bug_7960.tst new file mode 100755 index 000000000..d9665ee52 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_7960.tst @@ -0,0 +1,42 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2013 - Scilab Enterprises - Charlotte HECQUET +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// +// <-- TEST WITH GRAPHIC --> +// +// <-- Non-regression test for bug 7960 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=7960 +// +// <-- Short Description --> +// plzr can not produce a pole zero plot of many simple transfer functions + +z=poly(0,'z'); +Num=0.64-1.5054092*z+z*z; +Den=0.970225-1.9652966*z+z*z; +HZ=Num/Den; +zr_ref=roots(Num); +pl_ref=roots(Den); + +plzr(HZ); +a=gca(); +// Check poles +pl=a.children(3); +assert_checkequal(pl.type, "Polyline"); +assert_checkalmostequal(pl.data(1), real(pl_ref(1))); +assert_checkalmostequal(pl.data(2), real(pl_ref(2))); +assert_checkalmostequal(pl.data(3), imag(pl_ref(1))); +assert_checkalmostequal(pl.data(4), imag(pl_ref(2))); + +// Check zeros +zr=a.children(4); +assert_checkequal(zr.type, "Polyline"); +assert_checkalmostequal(zr.data(1), real(zr_ref(1))); +assert_checkalmostequal(zr.data(2), real(zr_ref(2))); +assert_checkalmostequal(zr.data(3), imag(zr_ref(1))); +assert_checkalmostequal(zr.data(4), imag(zr_ref(2))); +close; diff --git a/modules/cacsd/tests/nonreg_tests/bug_8162.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_8162.dia.ref new file mode 100755 index 000000000..73fa768c9 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_8162.dia.ref @@ -0,0 +1,26 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2013 - Scilab Enterprises - Charlotte HECQUET +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// +// <-- TEST WITH GRAPHIC --> +// +// <-- Non-regression test for bug 8162 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=8162 +// +// <-- Short Description --> +// Area of stability in continuous is wrong +s=poly(0,'s'); +n=[1+s 2+3*s+4*s^2 5; 0 1-s s]; +d=[1+3*s 5-s^3 s+1;1+s 1+s+s^2 3*s-1]; +h=syslin('c',n./d); +assert_checktrue(execstr("plzr(h)","errcatch")==0); +fig=gcf(); +ax=fig.children; +assert_checktrue(ax.children(2).type=='Segs'); +assert_checktrue(ax.children(2).data-[0,-1.6289709;0,1.6289709]<1d-5); +close diff --git a/modules/cacsd/tests/nonreg_tests/bug_8162.tst b/modules/cacsd/tests/nonreg_tests/bug_8162.tst new file mode 100755 index 000000000..930660024 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_8162.tst @@ -0,0 +1,27 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2013 - Scilab Enterprises - Charlotte HECQUET +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// +// <-- TEST WITH GRAPHIC --> +// +// <-- Non-regression test for bug 8162 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=8162 +// +// <-- Short Description --> +// Area of stability in continuous is wrong + +s=poly(0,'s'); +n=[1+s 2+3*s+4*s^2 5; 0 1-s s]; +d=[1+3*s 5-s^3 s+1;1+s 1+s+s^2 3*s-1]; +h=syslin('c',n./d); +assert_checktrue(execstr("plzr(h)","errcatch")==0); +fig=gcf(); +ax=fig.children; +assert_checktrue(ax.children(2).type=='Segs'); +assert_checktrue(ax.children(2).data-[0,-1.6289709;0,1.6289709]<1d-5); +close diff --git a/modules/cacsd/tests/nonreg_tests/bug_8174.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_8174.dia.ref new file mode 100755 index 000000000..9f67984c4 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_8174.dia.ref @@ -0,0 +1,25 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2010 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// +// <-- CLI SHELL MODE --> +// +// <-- Non-regression test for bug 8174 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=8174 +// +// <-- Short Description --> +// ss2tf produces bad results if applied to a complex state space system +//A real dynamical system represented in its eigen state space basis +//(A,B,C) matrices are complex but the system is real +A = [ 0.75+%i*0.6,0;0, 0.75-%i*0.6]; +B = [ 0.2-%i*0.45; 0.2+%i*0.45]; +C = [-0.04+%i*0.1,-0.04-%i*0.1]; +Sys =syslin('d',A,B,C,0); +H = ss2tf(Sys); +if norm(coeff((H.num-(-0.1011+0.074*%z))))>10*%eps then bugmes();quit;end +if norm(coeff((H.den-(0.9225-1.5*%z+%z^2))))>10*%eps then bugmes();quit;end diff --git a/modules/cacsd/tests/nonreg_tests/bug_8174.tst b/modules/cacsd/tests/nonreg_tests/bug_8174.tst new file mode 100755 index 000000000..4b136fed1 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_8174.tst @@ -0,0 +1,25 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2010 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// +// <-- CLI SHELL MODE --> +// +// <-- Non-regression test for bug 8174 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=8174 +// +// <-- Short Description --> +// ss2tf produces bad results if applied to a complex state space system +//A real dynamical system represented in its eigen state space basis +//(A,B,C) matrices are complex but the system is real +A = [ 0.75+%i*0.6,0;0, 0.75-%i*0.6]; +B = [ 0.2-%i*0.45; 0.2+%i*0.45]; +C = [-0.04+%i*0.1,-0.04-%i*0.1]; +Sys =syslin('d',A,B,C,0); +H = ss2tf(Sys); +if norm(coeff((H.num-(-0.1011+0.074*%z))))>10*%eps then pause,end +if norm(coeff((H.den-(0.9225-1.5*%z+%z^2))))>10*%eps then pause,end diff --git a/modules/cacsd/tests/nonreg_tests/bug_8319.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_8319.dia.ref new file mode 100755 index 000000000..b41053752 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_8319.dia.ref @@ -0,0 +1,20 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2013 - Scilab Enterprises - Charlotte HECQUET +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// <-- CLI SHELL MODE --> +// +// <-- Non-regression test for bug 8319 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=8319 +// +// <-- Short Description --> +// dbphi(hypermat) and phasemag(hypermat) return a matrix instead of hypermat +x = rand(2,2,2); +c = x*(1+%i); +[dB phi] = dbphi(c); +assert_checktrue(typeof(phi) == 'hypermat'); +assert_checkequal(size(phi), size(x)); diff --git a/modules/cacsd/tests/nonreg_tests/bug_8319.tst b/modules/cacsd/tests/nonreg_tests/bug_8319.tst new file mode 100755 index 000000000..e10ef2f1e --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_8319.tst @@ -0,0 +1,22 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2013 - Scilab Enterprises - Charlotte HECQUET +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +// <-- CLI SHELL MODE --> +// +// <-- Non-regression test for bug 8319 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=8319 +// +// <-- Short Description --> +// dbphi(hypermat) and phasemag(hypermat) return a matrix instead of hypermat + +x = rand(2,2,2); +c = x*(1+%i); +[dB phi] = dbphi(c); +assert_checktrue(typeof(phi) == 'hypermat'); +assert_checkequal(size(phi), size(x)); diff --git a/modules/cacsd/tests/nonreg_tests/bug_9098.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_9098.dia.ref new file mode 100755 index 000000000..69e6db576 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_9098.dia.ref @@ -0,0 +1,22 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2011 - DIGITEO - Allan CORNET +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// +// <-- CLI SHELL MODE --> +// +// <-- Non-regression test for bug 9098 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=9098 +// +// <-- Short Description --> +// demo CACSD --> Robust control failed on Windows 64 bit +// decrease optimization on sci_f_linmeq.f +s = poly(0,'s'); +G = syslin("c", 1/s^3); +[N, M] = lcf(tf2ss(G)); +nk = hankelsv([N, M]); +assert_checktrue(size(nk,'*') == 6); diff --git a/modules/cacsd/tests/nonreg_tests/bug_9098.tst b/modules/cacsd/tests/nonreg_tests/bug_9098.tst new file mode 100755 index 000000000..73dd09608 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_9098.tst @@ -0,0 +1,23 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2011 - DIGITEO - Allan CORNET +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// +// <-- CLI SHELL MODE --> +// +// <-- Non-regression test for bug 9098 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=9098 +// +// <-- Short Description --> +// demo CACSD --> Robust control failed on Windows 64 bit +// decrease optimization on sci_f_linmeq.f + +s = poly(0,'s'); +G = syslin("c", 1/s^3); +[N, M] = lcf(tf2ss(G)); +nk = hankelsv([N, M]); +assert_checktrue(size(nk,'*') == 6); diff --git a/modules/cacsd/tests/nonreg_tests/bug_9285.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_9285.dia.ref new file mode 100755 index 000000000..e391ddd03 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_9285.dia.ref @@ -0,0 +1,63 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2010 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// +// <-- CLI SHELL MODE --> +// +// <-- Non-regression test for bug 9285 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=9285 +// +// <-- Short Description --> +// g_margin returned bad results in some special cases. +s=%s; +Kp=2.054; +Ki=0.13383297644539613; +Td=0.605; +Kd=5.0; +ts=0.25; +k=0.001712328003555509; +tw=1.4731525037117905; +ta=8.678149822856799; +au=0.0; +ty=0.1; +Process=(k*s^2-tw*s+1)/((k*s^2+(tw/2)*s+1)*(1+ts*s)^2*(ta*s+au)) + Process = + + 2 + 1 - 1.4731525s + 0.0017123s + ------------------------------------------------------------- + 2 3 4 5 + 8.6781498s + 10.731194s + 3.7533037s + 0.4069374s + 0.0009287s +FeedBack=1/((ty*ty)*s^2+(ty*2^0.5)*s+1) * (1 + (Kd*Td*s)/(Kd+Td*s)) + FeedBack = + + 5 + 3.63s + ------------------------------------- + 2 3 + 5 + 1.3121068s + 0.1355599s + 0.00605s +REG=(Kp * ( 1 + Ki/s)); +FT20_0_ = syslin('c', REG * Process * FeedBack); +[gm,fr]=g_margin(FT20_0_) + fr = + + 0.1173008 + gm = + + 6.6932617 +if ~assert_checkalmostequal(fr,0.11730083,0,6e-9) then bugmes();quit;end +if ~assert_checkalmostequal(gm,6.69326173,0,6e-9) then bugmes();quit;end +FT20_0 = tf2ss(FT20_0_); +[gm,fr]=g_margin(FT20_0) + fr = + + 0.1173008 + gm = + + 6.6932617 +if ~assert_checkalmostequal(fr,0.11730083,0,6e-9) then bugmes();quit;end +if ~assert_checkalmostequal(gm,6.69326173,0,6e-9) then bugmes();quit;end diff --git a/modules/cacsd/tests/nonreg_tests/bug_9285.tst b/modules/cacsd/tests/nonreg_tests/bug_9285.tst new file mode 100755 index 000000000..632c56869 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_9285.tst @@ -0,0 +1,41 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2010 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// <-- NOT FIXED --> +// <-- CLI SHELL MODE --> +// +// <-- Non-regression test for bug 9285 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=9285 +// +// <-- Short Description --> +// g_margin returned bad results in some special cases. +s=%s; +Kp=2.054; +Ki=0.13383297644539613; +Td=0.605; +Kd=5.0; +ts=0.25; +k=0.001712328003555509; +tw=1.4731525037117905; +ta=8.678149822856799; +au=0.0; +ty=0.1; + +Process=(k*s^2-tw*s+1)/((k*s^2+(tw/2)*s+1)*(1+ts*s)^2*(ta*s+au)) +FeedBack=1/((ty*ty)*s^2+(ty*2^0.5)*s+1) * (1 + (Kd*Td*s)/(Kd+Td*s)) +REG=(Kp * ( 1 + Ki/s)); + +FT20_0_ = syslin('c', REG * Process * FeedBack); +[gm,fr]=g_margin(FT20_0_) +assert_checkalmostequal(fr,0.11730083,0,6e-9); +assert_checkalmostequal(gm,6.69326173,0,6e-9); + +FT20_0 = tf2ss(FT20_0_); +[gm,fr]=g_margin(FT20_0) +assert_checkalmostequal(fr,0.11730083,0,6e-9); +assert_checkalmostequal(gm,6.69326173,0,6e-9); diff --git a/modules/cacsd/tests/nonreg_tests/bug_9836.tst b/modules/cacsd/tests/nonreg_tests/bug_9836.tst new file mode 100755 index 000000000..637227375 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_9836.tst @@ -0,0 +1,39 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2011 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +// <-- CLI SHELL MODE --> +// +// <-- ENGLISH IMPOSED --> +// +// <-- Non-regression test for bug 9836 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=9836 +// +// <-- Short Description --> +// repfreq failed due to "singular problem + +s=%s; +num=1+8*s-8*s^2-16*s^3; +den=32*s^2+64*s^3+32*s^4+8*s^5+s^6; +H=syslin('c',num,den); //The system includes 2 integrators + + +f=2^(-29);//evaluate at a very low frequency + +r_ref=-2.2815502244818564e14-imult(1.60210611463226081e7);//computed with Maple + +assert_checkalmostequal(repfreq(H,f),r_ref); + +S1=syslin('c',cont_frm(H.num,H.den)); + +assert_checkalmostequal(repfreq(S1,f),r_ref); + +//using tf2ss make the error explode, just check if repfreq returns +//without error (warning must be issued) +S2=tf2ss(H); +assert_checkequal(execstr("repfreq(S2,f)","errcatch"),0); diff --git a/modules/cacsd/tests/nonreg_tests/bug_9836.unix.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_9836.unix.dia.ref new file mode 100755 index 000000000..53da84286 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_9836.unix.dia.ref @@ -0,0 +1,36 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2011 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// <-- CLI SHELL MODE --> +// +// <-- ENGLISH IMPOSED --> +// +// <-- Non-regression test for bug 9836 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=9836 +// +// <-- Short Description --> +// repfreq failed due to "singular problem +s=%s; +num=1+8*s-8*s^2-16*s^3; +den=32*s^2+64*s^3+32*s^4+8*s^5+s^6; +H=syslin('c',num,den); //The system includes 2 integrators +f=2^(-29);//evaluate at a very low frequency +r_ref=-2.2815502244818564e14-imult(1.60210611463226081e7);//computed with Maple +assert_checkalmostequal(repfreq(H,f),r_ref); +S1=syslin('c',cont_frm(H.num,H.den)); +assert_checkalmostequal(repfreq(S1,f),r_ref); +Warning : +matrix is close to singular or badly scaled. rcond = 9.8309D-18 + +//using tf2ss make the error explode, just check if repfreq returns +//without error (warning must be issued) +S2=tf2ss(H); +assert_checkequal(execstr("repfreq(S2,f)","errcatch"),0); +Warning : +matrix is close to singular or badly scaled. rcond = 2.5434D-17 + diff --git a/modules/cacsd/tests/nonreg_tests/bug_9836.win.dia.ref b/modules/cacsd/tests/nonreg_tests/bug_9836.win.dia.ref new file mode 100755 index 000000000..ad2844f11 --- /dev/null +++ b/modules/cacsd/tests/nonreg_tests/bug_9836.win.dia.ref @@ -0,0 +1,36 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2011 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// <-- CLI SHELL MODE --> +// +// <-- ENGLISH IMPOSED --> +// +// <-- Non-regression test for bug 9836 --> +// +// <-- Bugzilla URL --> +// http://bugzilla.scilab.org/show_bug.cgi?id=9836 +// +// <-- Short Description --> +// repfreq failed due to "singular problem +s=%s; +num=1+8*s-8*s^2-16*s^3; +den=32*s^2+64*s^3+32*s^4+8*s^5+s^6; +H=syslin('c',num,den); //The system includes 2 integrators +f=2^(-29);//evaluate at a very low frequency +r_ref=-2.2815502244818564e14-imult(1.60210611463226081e7);//computed with Maple +assert_checkalmostequal(repfreq(H,f),r_ref); +S1=syslin('c',cont_frm(H.num,H.den)); +assert_checkalmostequal(repfreq(S1,f),r_ref); +Warning : +matrix is close to singular or badly scaled. rcond = 9.8309D-18 + +//using tf2ss make the error explode, just check if repfreq returns +//without error (warning must be issued) +S2=tf2ss(H); +assert_checkequal(execstr("repfreq(S2,f)","errcatch"),0); +Warning : +matrix is close to singular or badly scaled. rcond = 7.0487D-17 + diff --git a/modules/cacsd/tests/unit_tests/arma.dia.ref b/modules/cacsd/tests/unit_tests/arma.dia.ref new file mode 100755 index 000000000..8b6537330 --- /dev/null +++ b/modules/cacsd/tests/unit_tests/arma.dia.ref @@ -0,0 +1,78 @@ +// y_{n+1} = y_n + 2*y_{n-1} + [1,2,3]*U_{n+1} + sig*1*e_{n+1} +Ar=armac([1,-1,-2],[1,2,3],[1],1,3,0); +u= (1:4).*.ones(3,1); +y1=arsimul(Ar,u); +if y1<>[6,18,48,108] then bugmes();quit;end +y2=narsimul(Ar,u); +if y1<>y2 then bugmes();quit;end; +a=rand('seed'); +Ar('sig')=1; +y1=arsimul(Ar,u); +rand('seed',a); +y2=narsimul(Ar,u); +if y1<>y2 then bugmes();quit;end; +// y_{n+1} = y_n + 2*y_{n-1} + [1,2,3]*U_{n} + sig*1*e_{n+1} +Ar=armac([1,-1,-2],[0,0,0,1,2,3],[1],1,3,0); +u= (1:4).*.ones(3,1); +y1=arsimul(Ar,u); +if y1<>[0,6,18,48] then bugmes();quit;end +y2=narsimul(Ar,u); +if y1<>y2 then bugmes();quit;end; +a=rand('seed'); +Ar('sig')=1; +y1=arsimul(Ar,u); +rand('seed',a); +y2=narsimul(Ar,u); +if y1<>y2 then bugmes();quit;end; +// y_{n+1} = y_n + 2*y_{n-1} + [1,2,3]*U_{n+1} -[4,5,6]*U_{n}+[7,8,9]*U_{n-1} + sig*1*e_{n+1} +Ar=armac([1,-1,-2],[1,2,3,-4,-5,-6,7,8,9],[1],1,3,0); +u= (1:4).*.ones(3,1); +y1=arsimul(Ar,u); +if y1<>[6,3,27,60] then bugmes();quit;end +y2=narsimul(Ar,u); +if y1<>y2 then bugmes();quit;end; +a=rand('seed'); +Ar('sig')=1; +y1=arsimul(Ar,u); +rand('seed',a); +y2=narsimul(Ar,u); +if y1<>y2 then bugmes();quit;end; +// y_{n+1} = eye(2,2)*y_n + 2*eye(2,2)*y_{n-1} + [1,2,3;1,2,3]*U_{n+1} -[4,5,6;4,5,6]*U_{n} +// +[7,8,9;7,8,9]*U_{n-1} + sig*eye(2,2)*e_{n+1} +Ar=armac([1,-1,-2].*.eye(2,2),[1,2,3,-4,-5,-6,7,8,9].*.[1;1],[eye(2,2)],2,3,0); +u= (1:4).*.ones(3,1); +y1=arsimul(Ar,u); +if y1<>[6,3,27,60].*.[1;1] then bugmes();quit;end +y2=narsimul(Ar,u); +if y1<>y2 then bugmes();quit;end; +a=rand('seed'); +Ar('sig')=1; +y1=arsimul(Ar,u); +rand('seed',a); +y2=narsimul(Ar,u); +if y1<>y2 then bugmes();quit;end; +// y_{n+1} = ones(2,2)*y_n + 2*ones(2,2)*y_{n-1} + [1,2,3;1,2,3]*U_{n+1} -[4,5,6;4,5,6]*U_{n} +// +[7,8,9;7,8,9]*U_{n-1} + sig*eye(2,2)*e_{n+1} +Ar=armac([eye(2,2),-ones(2,2),-2*ones(2,2)],[1,2,3,-4,-5,-6,7,8,9].*.[1;1],[eye(2,2)],2,3,0); +u= (1:4).*.ones(3,1); +y1=arsimul(Ar,u); +if y1<>[6,9,54,171].*.[1;1] then bugmes();quit;end +y2=narsimul(Ar,u); +if y1<>y2 then bugmes();quit;end; +a=rand('seed'); +Ar('sig')=1; +y1=arsimul(Ar,u); +rand('seed',a); +y2=narsimul(Ar,u); +if y1<>y2 then bugmes();quit;end; +// y_{n+1} = ones(2,2)*y_n + 2*ones(2,2)*y_{n-1} + [1,2,3;1,2,3]*U_{n+1} -[4,5,6;4,5,6]*U_{n} +// +[7,8,9;7,8,9]*U_{n-1} + sig*D*e_{n+1} +// D=rand(2,10) +D=rand(2,10); +Ar=armac([eye(2,2),-ones(2,2),-2*ones(2,2)],[1,2,3,-4,-5,-6,7,8,9].*.[1;1],[D],2,3,1.0); +u= (1:4).*.ones(3,1); +a=rand('seed'); +y1=arsimul(Ar,u); +rand('seed',a); +y2=narsimul(Ar,u); +if y1<>y2 then bugmes();quit;end; diff --git a/modules/cacsd/tests/unit_tests/arma.tst b/modules/cacsd/tests/unit_tests/arma.tst new file mode 100755 index 000000000..dec7f3879 --- /dev/null +++ b/modules/cacsd/tests/unit_tests/arma.tst @@ -0,0 +1,98 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) ????-2008 - INRIA +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +// y_{n+1} = y_n + 2*y_{n-1} + [1,2,3]*U_{n+1} + sig*1*e_{n+1} + +Ar=armac([1,-1,-2],[1,2,3],[1],1,3,0); +u= (1:4).*.ones(3,1); +y1=arsimul(Ar,u); +if y1<>[6,18,48,108] then pause,end +y2=narsimul(Ar,u); +if y1<>y2 then pause,end; +a=rand('seed'); +Ar('sig')=1; +y1=arsimul(Ar,u); +rand('seed',a); +y2=narsimul(Ar,u); +if y1<>y2 then pause,end; + +// y_{n+1} = y_n + 2*y_{n-1} + [1,2,3]*U_{n} + sig*1*e_{n+1} + +Ar=armac([1,-1,-2],[0,0,0,1,2,3],[1],1,3,0); +u= (1:4).*.ones(3,1); +y1=arsimul(Ar,u); +if y1<>[0,6,18,48] then pause,end +y2=narsimul(Ar,u); +if y1<>y2 then pause,end; +a=rand('seed'); +Ar('sig')=1; +y1=arsimul(Ar,u); +rand('seed',a); +y2=narsimul(Ar,u); +if y1<>y2 then pause,end; + +// y_{n+1} = y_n + 2*y_{n-1} + [1,2,3]*U_{n+1} -[4,5,6]*U_{n}+[7,8,9]*U_{n-1} + sig*1*e_{n+1} + +Ar=armac([1,-1,-2],[1,2,3,-4,-5,-6,7,8,9],[1],1,3,0); +u= (1:4).*.ones(3,1); +y1=arsimul(Ar,u); +if y1<>[6,3,27,60] then pause,end +y2=narsimul(Ar,u); +if y1<>y2 then pause,end; +a=rand('seed'); +Ar('sig')=1; +y1=arsimul(Ar,u); +rand('seed',a); +y2=narsimul(Ar,u); +if y1<>y2 then pause,end; + +// y_{n+1} = eye(2,2)*y_n + 2*eye(2,2)*y_{n-1} + [1,2,3;1,2,3]*U_{n+1} -[4,5,6;4,5,6]*U_{n} +// +[7,8,9;7,8,9]*U_{n-1} + sig*eye(2,2)*e_{n+1} + +Ar=armac([1,-1,-2].*.eye(2,2),[1,2,3,-4,-5,-6,7,8,9].*.[1;1],[eye(2,2)],2,3,0); +u= (1:4).*.ones(3,1); +y1=arsimul(Ar,u); +if y1<>[6,3,27,60].*.[1;1] then pause,end +y2=narsimul(Ar,u); +if y1<>y2 then pause,end; +a=rand('seed'); +Ar('sig')=1; +y1=arsimul(Ar,u); +rand('seed',a); +y2=narsimul(Ar,u); +if y1<>y2 then pause,end; + +// y_{n+1} = ones(2,2)*y_n + 2*ones(2,2)*y_{n-1} + [1,2,3;1,2,3]*U_{n+1} -[4,5,6;4,5,6]*U_{n} +// +[7,8,9;7,8,9]*U_{n-1} + sig*eye(2,2)*e_{n+1} + +Ar=armac([eye(2,2),-ones(2,2),-2*ones(2,2)],[1,2,3,-4,-5,-6,7,8,9].*.[1;1],[eye(2,2)],2,3,0); +u= (1:4).*.ones(3,1); +y1=arsimul(Ar,u); +if y1<>[6,9,54,171].*.[1;1] then pause,end +y2=narsimul(Ar,u); +if y1<>y2 then pause,end; +a=rand('seed'); +Ar('sig')=1; +y1=arsimul(Ar,u); +rand('seed',a); +y2=narsimul(Ar,u); +if y1<>y2 then pause,end; + +// y_{n+1} = ones(2,2)*y_n + 2*ones(2,2)*y_{n-1} + [1,2,3;1,2,3]*U_{n+1} -[4,5,6;4,5,6]*U_{n} +// +[7,8,9;7,8,9]*U_{n-1} + sig*D*e_{n+1} +// D=rand(2,10) +D=rand(2,10); +Ar=armac([eye(2,2),-ones(2,2),-2*ones(2,2)],[1,2,3,-4,-5,-6,7,8,9].*.[1;1],[D],2,3,1.0); +u= (1:4).*.ones(3,1); +a=rand('seed'); +y1=arsimul(Ar,u); +rand('seed',a); +y2=narsimul(Ar,u); +if y1<>y2 then pause,end; + + + diff --git a/modules/cacsd/tests/unit_tests/arma2ss.dia.ref b/modules/cacsd/tests/unit_tests/arma2ss.dia.ref new file mode 100755 index 000000000..acd870fcf --- /dev/null +++ b/modules/cacsd/tests/unit_tests/arma2ss.dia.ref @@ -0,0 +1,83 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2012 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// +ny=1,nu=1,sig=0.01; + ny = + + 1. + nu = + + 1. +ar=armac(1,[0,0.2],[0,1],ny,nu,sig); +[S,Sn]=arma2ss(ar); +A=[0,0.2;0,0];B=[0;1];C=[1,0];D=0; +assert_checkequal(S.A,A); +assert_checkequal(S.B,B); +assert_checkequal(S.C,C); +assert_checkequal(S.D,D); +A=[0,1;0,0];B=[0;0.01];C=[1,0];D=0; +assert_checkequal(Sn.A,A); +assert_checkequal(Sn.B,B); +assert_checkequal(Sn.C,C); +assert_checkequal(Sn.D,D); +// +ny=1,nu=1; + ny = + + 1. +ar=armac([1,-0.8,0.2],0.001,0,ny,nu,0); +[S,Sn]=arma2ss(ar); +A=[0.8,-0.2;1,0];B=[0.001;0];C=[1,0];D=0; +assert_checkequal(S.A,A); +assert_checkequal(S.B,B); +assert_checkequal(S.C,C); +assert_checkequal(S.D,D); +A=[0.8,-0.2;1,0];B=[0;0];C=[1,0];D=0; +assert_checkequal(Sn.A,A); +assert_checkequal(Sn.B,B); +assert_checkequal(Sn.C,C); +assert_checkequal(Sn.D,D); +a=[1,-2.851,2.717,-0.865].*.eye(2,2); +b=[0,1,1,1].*.[1;1]; +d=[1,0.7,0.2].*.eye(2,2); +sig=eye(2,2); +ar=armac(a,b,d,2,1,sig); +[S,Sn]=arma2ss(ar); +A=[2.851,0, -2.717,0, 0.865,0, 1,1,1; + 0, 2.851,0, -2.717,0, 0.865,1,1,1; + 1, 0, 0, 0, 0, 0, 0,0,0; + 0, 1, 0, 0, 0, 0, 0,0,0; + 0, 0, 1, 0, 0, 0, 0,0,0; + 0, 0, 0, 1, 0, 0, 0,0,0; + 0, 0, 0, 0, 0, 0, 0,0,0; + 0, 0, 0, 0, 0, 0, 1,0,0; + 0, 0, 0, 0, 0, 0, 0,1,0]; +B=[0;0;0;0;0;0;1;0;0]; +C=[1,0,0,0,0,0,0,0,0; + 0,1,0,0,0,0,0,0,0]; +D=[0;0]; +assert_checkequal(S.A,A); +assert_checkequal(S.B,B); +assert_checkequal(S.C,C); +assert_checkequal(S.D,D); +A=[2.851,0,-2.717,0,0.865,0,0.7,0,0.2,0; + 0,2.851,0,-2.717,0,0.865,0,0.7,0,0.2; + 1,0,0,0,0,0,0,0,0,0; + 0,1,0,0,0,0,0,0,0,0; + 0,0,1,0,0,0,0,0,0,0; + 0,0,0,1,0,0,0,0,0,0; + 0,0,0,0,0,0,0,0,0,0; + 0,0,0,0,0,0,0,0,0,0; + 0,0,0,0,0,0,1,0,0,0; + 0,0,0,0,0,0,0,1,0,0]; +B=[1,0;0,1;0,0;0,0;0,0;0,0;1,0;0,1;0,0;0,0]; +C=[1,0,0,0,0,0,0,0,0,0;0,1,0,0,0,0,0,0,0,0]; +D=[0,0;0,0]; +assert_checkequal(Sn.A,A); +assert_checkequal(Sn.B,B); +assert_checkequal(Sn.C,C); +assert_checkequal(Sn.D,D); diff --git a/modules/cacsd/tests/unit_tests/arma2ss.tst b/modules/cacsd/tests/unit_tests/arma2ss.tst new file mode 100755 index 000000000..e41261eb0 --- /dev/null +++ b/modules/cacsd/tests/unit_tests/arma2ss.tst @@ -0,0 +1,80 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2012 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// +ny=1,nu=1,sig=0.01; +ar=armac(1,[0,0.2],[0,1],ny,nu,sig); +[S,Sn]=arma2ss(ar); +A=[0,0.2;0,0];B=[0;1];C=[1,0];D=0; +assert_checkequal(S.A,A); +assert_checkequal(S.B,B); +assert_checkequal(S.C,C); +assert_checkequal(S.D,D); +A=[0,1;0,0];B=[0;0.01];C=[1,0];D=0; +assert_checkequal(Sn.A,A); +assert_checkequal(Sn.B,B); +assert_checkequal(Sn.C,C); +assert_checkequal(Sn.D,D); +// +ny=1,nu=1; +ar=armac([1,-0.8,0.2],0.001,0,ny,nu,0); +[S,Sn]=arma2ss(ar); +A=[0.8,-0.2;1,0];B=[0.001;0];C=[1,0];D=0; +assert_checkequal(S.A,A); +assert_checkequal(S.B,B); +assert_checkequal(S.C,C); +assert_checkequal(S.D,D); +A=[0.8,-0.2;1,0];B=[0;0];C=[1,0];D=0; +assert_checkequal(Sn.A,A); +assert_checkequal(Sn.B,B); +assert_checkequal(Sn.C,C); +assert_checkequal(Sn.D,D); + + + +a=[1,-2.851,2.717,-0.865].*.eye(2,2); +b=[0,1,1,1].*.[1;1]; +d=[1,0.7,0.2].*.eye(2,2); +sig=eye(2,2); +ar=armac(a,b,d,2,1,sig); + +[S,Sn]=arma2ss(ar); + +A=[2.851,0, -2.717,0, 0.865,0, 1,1,1; + 0, 2.851,0, -2.717,0, 0.865,1,1,1; + 1, 0, 0, 0, 0, 0, 0,0,0; + 0, 1, 0, 0, 0, 0, 0,0,0; + 0, 0, 1, 0, 0, 0, 0,0,0; + 0, 0, 0, 1, 0, 0, 0,0,0; + 0, 0, 0, 0, 0, 0, 0,0,0; + 0, 0, 0, 0, 0, 0, 1,0,0; + 0, 0, 0, 0, 0, 0, 0,1,0]; +B=[0;0;0;0;0;0;1;0;0]; +C=[1,0,0,0,0,0,0,0,0; + 0,1,0,0,0,0,0,0,0]; +D=[0;0]; +assert_checkequal(S.A,A); +assert_checkequal(S.B,B); +assert_checkequal(S.C,C); +assert_checkequal(S.D,D); + +A=[2.851,0,-2.717,0,0.865,0,0.7,0,0.2,0; + 0,2.851,0,-2.717,0,0.865,0,0.7,0,0.2; + 1,0,0,0,0,0,0,0,0,0; + 0,1,0,0,0,0,0,0,0,0; + 0,0,1,0,0,0,0,0,0,0; + 0,0,0,1,0,0,0,0,0,0; + 0,0,0,0,0,0,0,0,0,0; + 0,0,0,0,0,0,0,0,0,0; + 0,0,0,0,0,0,1,0,0,0; + 0,0,0,0,0,0,0,1,0,0]; +B=[1,0;0,1;0,0;0,0;0,0;0,0;1,0;0,1;0,0;0,0]; +C=[1,0,0,0,0,0,0,0,0,0;0,1,0,0,0,0,0,0,0,0]; +D=[0,0;0,0]; +assert_checkequal(Sn.A,A); +assert_checkequal(Sn.B,B); +assert_checkequal(Sn.C,C); +assert_checkequal(Sn.D,D); diff --git a/modules/cacsd/tests/unit_tests/bode.dia.ref b/modules/cacsd/tests/unit_tests/bode.dia.ref new file mode 100755 index 000000000..e0c1effdc --- /dev/null +++ b/modules/cacsd/tests/unit_tests/bode.dia.ref @@ -0,0 +1,133 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2008 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// +// <-- TEST WITH GRAPHIC --> +// +// <-- ENGLISH IMPOSED --> +// +function r=checkbode(h,leg) + fig=gcf(); + r=%t; + ap=fig.children(1); + am=fig.children(2); + if am.log_flags<>"lnn" then r=%f;return,end + if or(am.axes_visible<>["on","on","on"]) then r=%f;return,end + if ap.log_flags<>"lnn" then r=%f;return,end + if or(ap.axes_visible<>["on","on","on"]) then r=%f;return,end + n=size(am.children($).children,"*"); + if n<>size(h,1) then bugmes();quit;end + for k=1:n; + pm=am.children($).children(n+1-k); + pp=ap.children($).children(n+1-k); + if or(pm.data(:,1)<>pp.data(:,1)) then ;r=%f;return,end + [frq,rf]=repfreq(h(k,1),pm.data(:,1));[phi,d]=phasemag(rf); + if norm(d(:)-pm.data(:,2))> 1d-15 then r=%f;return,end + end + if argn(2)==2 then + if size(ap.children,"*")<2 then r=%f;return,end + if ap.children(1).type<>"Legend" then r=%f;return,end + if size(ap.children(1).links,"*")<>n then r=%f;return,end + if or(ap.children(1).text<>leg(:)) then r=%f;return,end + end +endfunction +s=poly(0,"s"); +n=1+s;d=1+2*s; +h=syslin("c",n,d); +sl=tf2ss(h); +sld=dscr(sl,0.01); +hd=ss2tf(sld); +[w,rf]=repfreq(h,0.01,100); +// Continuous time +clf();bode(h); +if ~checkbode(h) then bugmes();quit;end +clf();bode(h,"h"); +if ~checkbode(h,"h") then bugmes();quit;end +clf();bode(h,0.01,100); +if ~checkbode(h) then bugmes();quit;end +clf();bode(h,0.01,100,"h"); +if ~checkbode(h,"h") then bugmes();quit;end +clf();bode(h,0.01,100,0.01); +if ~checkbode(h) then bugmes();quit;end +clf();bode(sl,0.01,100); +if ~checkbode(sl) then bugmes();quit;end +clf();bode(sl,0.01,100,0.01); +// Continuous time SIMO +h=[h;h+1];sl=[sl;sl+1]; +clf();bode(h); +if ~checkbode(h) then bugmes();quit;end +clf();bode(h,["h";"h+1"]); +if ~checkbode(h,["h";"h+1"]) then bugmes();quit;end +clf();bode(h,0.01,100); +if ~checkbode(h) then bugmes();quit;end +clf();bode(h,0.01,100,["h";"h+1"]); +if ~checkbode(h,["h";"h+1"]) then bugmes();quit;end +clf();bode(h,0.01,100,0.01); +if ~checkbode(h) then bugmes();quit;end +clf();bode(sl,0.01,100); +if ~checkbode(sl) then bugmes();quit;end +clf();bode(sl,0.01,100,0.01); +// Discrete case +clf();bode(hd); +WARNING: calfrq: Frequencies beyond Nyquist frequency are ignored. +if ~checkbode(hd) then bugmes();quit;end +clf();bode(hd,"h"); +WARNING: calfrq: Frequencies beyond Nyquist frequency are ignored. +if ~checkbode(hd,"h") then bugmes();quit;end +clf();bode(hd,0.01,100); +WARNING: calfrq: Frequencies beyond Nyquist frequency are ignored. +if ~checkbode(hd) then bugmes();quit;end +clf();bode(hd,0.01,100,"h"); +WARNING: calfrq: Frequencies beyond Nyquist frequency are ignored. +if ~checkbode(hd,"h") then bugmes();quit;end +clf();bode(hd,0.01,100,0.01); +if ~checkbode(hd) then bugmes();quit;end +clf();bode(sld,0.01,100); +WARNING: calfrq: Frequencies beyond Nyquist frequency are ignored. +if ~checkbode(sld) then bugmes();quit;end +clf();bode(sl,0.01,100,0.01); +// Discrete case SIMO +hd=[hd;hd+1];sld=[sld;sld+1]; +clf();bode(hd); +WARNING: calfrq: Frequencies beyond Nyquist frequency are ignored. +if ~checkbode(hd) then bugmes();quit;end +clf();bode(hd,["h";"h+1"]); +WARNING: calfrq: Frequencies beyond Nyquist frequency are ignored. +if ~checkbode(hd,["h";"h+1"]) then bugmes();quit;end +clf();bode(hd,0.01,100); +WARNING: calfrq: Frequencies beyond Nyquist frequency are ignored. +if ~checkbode(hd) then bugmes();quit;end +clf();bode(hd,0.01,100,["h";"h+1"]); +WARNING: calfrq: Frequencies beyond Nyquist frequency are ignored. +if ~checkbode(hd,["h";"h+1"]) then bugmes();quit;end +clf();bode(hd,0.01,100,0.01); +if ~checkbode(hd) then bugmes();quit;end +clf();bode(sld,0.01,100); +WARNING: calfrq: Frequencies beyond Nyquist frequency are ignored. +if ~checkbode(sld) then bugmes();quit;end +clf();bode(sl,0.01,100,0.01); +// bode given by precomputed frequency response +h=syslin("c",n,d); +clf();bode(h,0.01,100); +fig=gcf(); +dp=fig.children(1).children($).children.data; +dm=fig.children(2).children($).children.data; +[w,rf]=repfreq(h,0.01,100); +clf(); bode(w,rf); +fig=gcf(); +if norm(dp-fig.children(1).children($).children.data)>1d-13 then bugmes();quit;end +if norm(dm-fig.children(2).children($).children.data)>1d-13 then bugmes();quit;end +clf(); bode(w,20*log(abs(rf))/log(10),(180/%pi)*atan(imag(rf),real(rf))) +fig=gcf(); +if norm(dp-fig.children(1).children($).children.data)>1d-13 then bugmes();quit;end +if norm(dm-fig.children(2).children($).children.data)>1d-13 then bugmes();quit;end +// Bode_asymp() +s = %s; +G = (s+10)/(s*(s+100)); // A rational matrix +sys = syslin("c", G); // A continuous-time linear system in transfer matrix representation. +f_min = .0001; f_max = 1600; // Frequencies in Hz +clf(); bode(sys, f_min, f_max, "rad"); // The optional argument "rad" converts Hz to rad/s +bode_asymp(sys, 10, 1000); // Plots asymptotes in the given range of frequency (in rad/s). diff --git a/modules/cacsd/tests/unit_tests/bode.tst b/modules/cacsd/tests/unit_tests/bode.tst new file mode 100755 index 000000000..36a941752 --- /dev/null +++ b/modules/cacsd/tests/unit_tests/bode.tst @@ -0,0 +1,145 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2008 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// +// <-- TEST WITH GRAPHIC --> +// +// <-- ENGLISH IMPOSED --> +// + +function r=checkbode(h,leg) + fig=gcf(); + r=%t; + ap=fig.children(1); + am=fig.children(2); + if am.log_flags<>"lnn" then r=%f;return,end + if or(am.axes_visible<>["on","on","on"]) then r=%f;return,end + if ap.log_flags<>"lnn" then r=%f;return,end + if or(ap.axes_visible<>["on","on","on"]) then r=%f;return,end + + n=size(am.children($).children,"*"); + if n<>size(h,1) then pause,end + for k=1:n; + pm=am.children($).children(n+1-k); + pp=ap.children($).children(n+1-k); + if or(pm.data(:,1)<>pp.data(:,1)) then ;r=%f;return,end + [frq,rf]=repfreq(h(k,1),pm.data(:,1));[phi,d]=phasemag(rf); + if norm(d(:)-pm.data(:,2))> 1d-15 then r=%f;return,end + end + if argn(2)==2 then + if size(ap.children,"*")<2 then r=%f;return,end + if ap.children(1).type<>"Legend" then r=%f;return,end + if size(ap.children(1).links,"*")<>n then r=%f;return,end + if or(ap.children(1).text<>leg(:)) then r=%f;return,end + end +endfunction + +s=poly(0,"s"); +n=1+s;d=1+2*s; +h=syslin("c",n,d); +sl=tf2ss(h); +sld=dscr(sl,0.01); +hd=ss2tf(sld); + +[w,rf]=repfreq(h,0.01,100); + +// Continuous time +clf();bode(h); +if ~checkbode(h) then pause,end +clf();bode(h,"h"); +if ~checkbode(h,"h") then pause,end + +clf();bode(h,0.01,100); +if ~checkbode(h) then pause,end +clf();bode(h,0.01,100,"h"); +if ~checkbode(h,"h") then pause,end + +clf();bode(h,0.01,100,0.01); +if ~checkbode(h) then pause,end +clf();bode(sl,0.01,100); +if ~checkbode(sl) then pause,end +clf();bode(sl,0.01,100,0.01); + +// Continuous time SIMO +h=[h;h+1];sl=[sl;sl+1]; +clf();bode(h); +if ~checkbode(h) then pause,end +clf();bode(h,["h";"h+1"]); +if ~checkbode(h,["h";"h+1"]) then pause,end + +clf();bode(h,0.01,100); +if ~checkbode(h) then pause,end +clf();bode(h,0.01,100,["h";"h+1"]); +if ~checkbode(h,["h";"h+1"]) then pause,end + +clf();bode(h,0.01,100,0.01); +if ~checkbode(h) then pause,end +clf();bode(sl,0.01,100); +if ~checkbode(sl) then pause,end +clf();bode(sl,0.01,100,0.01); + + +// Discrete case +clf();bode(hd); +if ~checkbode(hd) then pause,end +clf();bode(hd,"h"); +if ~checkbode(hd,"h") then pause,end + +clf();bode(hd,0.01,100); +if ~checkbode(hd) then pause,end +clf();bode(hd,0.01,100,"h"); +if ~checkbode(hd,"h") then pause,end + +clf();bode(hd,0.01,100,0.01); +if ~checkbode(hd) then pause,end +clf();bode(sld,0.01,100); +if ~checkbode(sld) then pause,end +clf();bode(sl,0.01,100,0.01); + +// Discrete case SIMO +hd=[hd;hd+1];sld=[sld;sld+1]; +clf();bode(hd); +if ~checkbode(hd) then pause,end +clf();bode(hd,["h";"h+1"]); +if ~checkbode(hd,["h";"h+1"]) then pause,end + +clf();bode(hd,0.01,100); +if ~checkbode(hd) then pause,end +clf();bode(hd,0.01,100,["h";"h+1"]); +if ~checkbode(hd,["h";"h+1"]) then pause,end + +clf();bode(hd,0.01,100,0.01); +if ~checkbode(hd) then pause,end +clf();bode(sld,0.01,100); +if ~checkbode(sld) then pause,end +clf();bode(sl,0.01,100,0.01); + +// bode given by precomputed frequency response +h=syslin("c",n,d); +clf();bode(h,0.01,100); +fig=gcf(); +dp=fig.children(1).children($).children.data; +dm=fig.children(2).children($).children.data; +[w,rf]=repfreq(h,0.01,100); + +clf(); bode(w,rf); +fig=gcf(); +if norm(dp-fig.children(1).children($).children.data)>1d-13 then pause,end +if norm(dm-fig.children(2).children($).children.data)>1d-13 then pause,end + +clf(); bode(w,20*log(abs(rf))/log(10),(180/%pi)*atan(imag(rf),real(rf))) +fig=gcf(); +if norm(dp-fig.children(1).children($).children.data)>1d-13 then pause,end +if norm(dm-fig.children(2).children($).children.data)>1d-13 then pause,end + +// Bode_asymp() +s = %s; +G = (s+10)/(s*(s+100)); // A rational matrix +sys = syslin("c", G); // A continuous-time linear system in transfer matrix representation. +f_min = .0001; f_max = 1600; // Frequencies in Hz + +clf(); bode(sys, f_min, f_max, "rad"); // The optional argument "rad" converts Hz to rad/s +bode_asymp(sys, 10, 1000); // Plots asymptotes in the given range of frequency (in rad/s). diff --git a/modules/cacsd/tests/unit_tests/calfrq.dia.ref b/modules/cacsd/tests/unit_tests/calfrq.dia.ref new file mode 100755 index 000000000..87e39b7aa --- /dev/null +++ b/modules/cacsd/tests/unit_tests/calfrq.dia.ref @@ -0,0 +1,85 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) ????-2008 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +K=0.001; // Minimum relative prediction error in the nyquist plan +Epss=0.002; // minimum frequency distance with a singularity +nptmax=5000; //maximum number of discretization points +pas=100/(2*%pi); +s=%s; +h=syslin('c',1/%s);n=1; +[f,bnds,split]=calfrq(h,0.01,100); +if split<>1 then bugmes();quit;end +rf=freq(h.num,h.den,2*%pi*%i*f); +//finite difference derivative estimate +ddf=diff(f)/pas; +drf=(freq(h.num,h.den,2*%pi*%i*(f(1:$-1)+ddf))-rf(:,1:$-1)); +//error between computed and extrapolated value +e=rf(:,2:$)-(rf(:,1:$-1)+drf*pas); +if max([abs(real(e))/max(bnds(2)-bnds(1),1); abs(imag(e))/max(bnds(4)- bnds(3),1)])>K then bugmes();quit;end +h=syslin('c',[1/(%s+0.5);1/(%s+0.3)]);n=2; +[f,bnds,split]=calfrq(h,0.01,100); +if split<>1 then bugmes();quit;end +rf=freq(h.num,h.den,2*%pi*%i*f); +//finite difference derivative estimate +ddf=diff(f)/pas; +drf=(freq(h.num,h.den,2*%pi*%i*(f(1:$-1)+ddf))-rf(:,1:$-1)); +//error between computed and extrapolated value +e=rf(:,2:$)-(rf(:,1:$-1)+drf*pas); +if max([abs(real(e))/max(bnds(2)-bnds(1),1); abs(imag(e))/max(bnds(4)- bnds(3),1)])>K then bugmes();quit;end +h=syslin('c',(%s^2+2*0.9*10*%s+100)/(%s^2+2*0.3*10.1*%s+102.01)); +//h=h*syslin('c',(%s)/(%s^2+81)) ; +n=1; +[f,bnds,split]=calfrq(h,0.01,100); +if size(split,1)<>1 then bugmes();quit;end +rf=freq(h.num,h.den,2*%pi*%i*f); +//finite difference derivative estimate +ddf=diff(f)/100; +drf=(freq(h.num,h.den,2*%pi*%i*(f(1:$-1)+ddf))-rf(:,1:$-1)); +//error between computed and extrapolated value +e=rf(:,2:$)-(rf(:,1:$-1)+drf*100); +if max([abs(real(e))/max(bnds(2)-bnds(1),1); abs(imag(e))/max(bnds(4)- bnds(3),1)])>K then bugmes();quit;end +//case with singularity +h=syslin('c',(%s)/(%s^2+81)) ; +sing=9/(2*%pi); +n=1; +[f,bnds,split]=calfrq(h,0.01,100); +if size(split,2)<>2 then bugmes();quit;end +ks=split(2); +if abs(f(ks-1)-f(ks))*2*%pi<Epss then bugmes();quit;end +if f(ks-1)>sing|f(ks)<sing then bugmes();quit;end +//finite difference derivative estimate +f1=f(1:ks-15);//remove points near singularity for which pasmin constraint may be active +rf=freq(h.num,h.den,2*%pi*%i*f1); +ddf=diff(f1)/pas; +drf=(freq(h.num,h.den,2*%pi*%i*(f1(1:$-1)+ddf))-rf(:,1:$-1)); +//error between computed and extrapolated value +e=rf(:,2:$)-(rf(:,1:$-1)+drf*pas); +if max([abs(real(e))/max(bnds(2)-bnds(1),1); abs(imag(e))/max(bnds(4)- bnds(3),1)])>K then bugmes();quit;end +f1=f(ks+15:$);//remove points near singularity for which pasmin constraint may be active +rf=freq(h.num,h.den,2*%pi*%i*f1); +ddf=diff(f1)/pas; +drf=(freq(h.num,h.den,2*%pi*%i*(f1(1:$-1)+ddf))-rf(:,1:$-1)); +//error between computed and extrapolated value +e=rf(:,2:$)-(rf(:,1:$-1)+drf*pas); +if max([abs(real(e))/max(bnds(2)-bnds(1),1); abs(imag(e))/max(bnds(4)- bnds(3),1)])>K then bugmes();quit;end +//state space case +sl=tf2ss(h); +n=1; +[f1,bnds1,split1]=calfrq(sl,0.01,100); +if norm(f-f1)>1d-13 then bugmes();quit;end +if or(split<>split1) then bugmes();quit;end +//discrete case +h=syslin('c',(s^2+2*0.9*10*s+100)/(s^2+2*0.3*10.1*s+102.01)); +hd=ss2tf(dscr(h,0.01)); +[f,bnds,split]=calfrq(hd,0.00001,3); +if size(split,1)<>1 then bugmes();quit;end +rf=freq(h.num,h.den,exp(2*%pi*%i*f)); +//finite difference derivative estimate +ddf=diff(f)/pas; +drf=(freq(h.num,h.den,exp(2*%pi*%i*(f(1:$-1)+ddf)))-rf(:,1:$-1)); +//error between computed and extrapolated value +e=rf(:,2:$)-(rf(:,1:$-1)+drf*pas); +if max([abs(real(e))/max(bnds(2)-bnds(1),1); abs(imag(e))/max(bnds(4)- bnds(3),1)])>K then bugmes();quit;end diff --git a/modules/cacsd/tests/unit_tests/calfrq.tst b/modules/cacsd/tests/unit_tests/calfrq.tst new file mode 100755 index 000000000..807726d72 --- /dev/null +++ b/modules/cacsd/tests/unit_tests/calfrq.tst @@ -0,0 +1,104 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) ????-2008 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +K=0.001; // Minimum relative prediction error in the nyquist plan +Epss=0.002; // minimum frequency distance with a singularity +nptmax=5000; //maximum number of discretization points +pas=100/(2*%pi); +s=%s; + +h=syslin('c',1/%s);n=1; + + +[f,bnds,split]=calfrq(h,0.01,100); +if split<>1 then pause,end +rf=freq(h.num,h.den,2*%pi*%i*f); +//finite difference derivative estimate +ddf=diff(f)/pas; +drf=(freq(h.num,h.den,2*%pi*%i*(f(1:$-1)+ddf))-rf(:,1:$-1)); +//error between computed and extrapolated value +e=rf(:,2:$)-(rf(:,1:$-1)+drf*pas); +if max([abs(real(e))/max(bnds(2)-bnds(1),1); abs(imag(e))/max(bnds(4)- bnds(3),1)])>K then pause,end + +h=syslin('c',[1/(%s+0.5);1/(%s+0.3)]);n=2; +[f,bnds,split]=calfrq(h,0.01,100); +if split<>1 then pause,end +rf=freq(h.num,h.den,2*%pi*%i*f); +//finite difference derivative estimate +ddf=diff(f)/pas; +drf=(freq(h.num,h.den,2*%pi*%i*(f(1:$-1)+ddf))-rf(:,1:$-1)); +//error between computed and extrapolated value +e=rf(:,2:$)-(rf(:,1:$-1)+drf*pas); +if max([abs(real(e))/max(bnds(2)-bnds(1),1); abs(imag(e))/max(bnds(4)- bnds(3),1)])>K then pause,end + + + +h=syslin('c',(%s^2+2*0.9*10*%s+100)/(%s^2+2*0.3*10.1*%s+102.01)); +//h=h*syslin('c',(%s)/(%s^2+81)) ; +n=1; +[f,bnds,split]=calfrq(h,0.01,100); +if size(split,1)<>1 then pause,end + +rf=freq(h.num,h.den,2*%pi*%i*f); +//finite difference derivative estimate +ddf=diff(f)/100; +drf=(freq(h.num,h.den,2*%pi*%i*(f(1:$-1)+ddf))-rf(:,1:$-1)); +//error between computed and extrapolated value +e=rf(:,2:$)-(rf(:,1:$-1)+drf*100); +if max([abs(real(e))/max(bnds(2)-bnds(1),1); abs(imag(e))/max(bnds(4)- bnds(3),1)])>K then pause,end + + + + + + +//case with singularity +h=syslin('c',(%s)/(%s^2+81)) ; +sing=9/(2*%pi); +n=1; +[f,bnds,split]=calfrq(h,0.01,100); +if size(split,2)<>2 then pause,end +ks=split(2); +if abs(f(ks-1)-f(ks))*2*%pi<Epss then pause,end +if f(ks-1)>sing|f(ks)<sing then pause,end + +//finite difference derivative estimate +f1=f(1:ks-15);//remove points near singularity for which pasmin constraint may be active +rf=freq(h.num,h.den,2*%pi*%i*f1); +ddf=diff(f1)/pas; +drf=(freq(h.num,h.den,2*%pi*%i*(f1(1:$-1)+ddf))-rf(:,1:$-1)); +//error between computed and extrapolated value +e=rf(:,2:$)-(rf(:,1:$-1)+drf*pas); +if max([abs(real(e))/max(bnds(2)-bnds(1),1); abs(imag(e))/max(bnds(4)- bnds(3),1)])>K then pause,end +f1=f(ks+15:$);//remove points near singularity for which pasmin constraint may be active +rf=freq(h.num,h.den,2*%pi*%i*f1); +ddf=diff(f1)/pas; +drf=(freq(h.num,h.den,2*%pi*%i*(f1(1:$-1)+ddf))-rf(:,1:$-1)); +//error between computed and extrapolated value +e=rf(:,2:$)-(rf(:,1:$-1)+drf*pas); +if max([abs(real(e))/max(bnds(2)-bnds(1),1); abs(imag(e))/max(bnds(4)- bnds(3),1)])>K then pause,end + + +//state space case +sl=tf2ss(h); +n=1; +[f1,bnds1,split1]=calfrq(sl,0.01,100); +if norm(f-f1)>1d-13 then pause,end +if or(split<>split1) then pause,end + +//discrete case +h=syslin('c',(s^2+2*0.9*10*s+100)/(s^2+2*0.3*10.1*s+102.01)); +hd=ss2tf(dscr(h,0.01)); +[f,bnds,split]=calfrq(hd,0.00001,3); +if size(split,1)<>1 then pause,end + +rf=freq(h.num,h.den,exp(2*%pi*%i*f)); +//finite difference derivative estimate +ddf=diff(f)/pas; +drf=(freq(h.num,h.den,exp(2*%pi*%i*(f(1:$-1)+ddf)))-rf(:,1:$-1)); +//error between computed and extrapolated value +e=rf(:,2:$)-(rf(:,1:$-1)+drf*pas); +if max([abs(real(e))/max(bnds(2)-bnds(1),1); abs(imag(e))/max(bnds(4)- bnds(3),1)])>K then pause,end diff --git a/modules/cacsd/tests/unit_tests/coff.dia.ref b/modules/cacsd/tests/unit_tests/coff.dia.ref new file mode 100755 index 000000000..e9bd1aa4c --- /dev/null +++ b/modules/cacsd/tests/unit_tests/coff.dia.ref @@ -0,0 +1,12 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) ????-2008 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +M=[1,2;0,3]; +[N,d]=coff(M); +if norm(coeff(N-[-3+%s,2;0,-1+%s]))>1d-14 then bugmes();quit;end +if norm(coeff(d-(3-4*%s+%s^2)))>1d-14 then bugmes();quit;end +[N,d]=coff([]); +if N<>[]|d<>1 then bugmes();quit;end diff --git a/modules/cacsd/tests/unit_tests/coff.tst b/modules/cacsd/tests/unit_tests/coff.tst new file mode 100755 index 000000000..f0deec864 --- /dev/null +++ b/modules/cacsd/tests/unit_tests/coff.tst @@ -0,0 +1,13 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) ????-2008 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +M=[1,2;0,3]; +[N,d]=coff(M); +if norm(coeff(N-[-3+%s,2;0,-1+%s]))>1d-14 then pause,end +if norm(coeff(d-(3-4*%s+%s^2)))>1d-14 then pause,end +[N,d]=coff([]); +if N<>[]|d<>1 then pause,end diff --git a/modules/cacsd/tests/unit_tests/contr.dia.ref b/modules/cacsd/tests/unit_tests/contr.dia.ref new file mode 100755 index 000000000..acab228db --- /dev/null +++ b/modules/cacsd/tests/unit_tests/contr.dia.ref @@ -0,0 +1,57 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) ????-2008 - INRIA - Serge Steer +// Copyright (C) 2012 - Scilab Enterprises - Adeline CARNIS +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +assert_checkfalse(execstr("contr()", "errcatch") == 0); +refMsg = msprintf(_("%s: Wrong number of input argument(s): %d to %d expected.\n"), "contr", 2, 3); +assert_checkerror("contr()", refMsg); +A = ones(3,3) + 0 * %i; +B = ones(3,3) * 2; +assert_checkfalse(execstr("contr(A, B)", "errcatch") == 0); +refMsg = msprintf(_("%s: Wrong type for input argument #%d: A real matrix expected.\n"), "contr", 1); +assert_checkerror("contr(A, B)", refMsg); +A = ones(3,3); +assert_checkfalse(execstr("contr(A, complex(B))", "errcatch") == 0); +refMsg = msprintf(_("%s: Wrong type for input argument #%d: A real matrix expected.\n"), "contr", 2); +assert_checkerror("contr(A, complex(B))", refMsg); +assert_checkfalse(execstr("contr(sparse(A), B)", "errcatch") == 0); +refMsg = msprintf(_("%s: Wrong type for input argument #%d: A real matrix expected.\n"), "contr", 1); +assert_checkerror("contr(sparse(A), B)", refMsg); +assert_checkfalse(execstr("contr(A, sparse(B))", "errcatch") == 0); +refMsg = msprintf(_("%s: Wrong type for input argument #%d: A real matrix expected.\n"), "contr", 2); +assert_checkerror("contr(A, sparse(B))", refMsg); +a = [0.8604043 , 0.0070020 , 0.6223373 , -1.356213 , -4.2301775 + 0.159714 , 0.0857791 , -0.2367751 , 0.4958580 , 0.6398817 + -4.3054931 , -0.0365878 , 2.1784911 , 0.0314793 , 2.3728994 + -3.7115779 , -0.5370809 , 2.4291716 , -0.6352663 , 2.6972781 + 6.3580966 , 0.1377712 , -4.0461243 , -0.5192899 , -4.0394083]; +b = [-0.0532544 , -0.1494083 , -0.0098619 + -0.0355030 , -0.0162722 , 0.1045365 + -0.1301775 , 0.1736686 , -0.0611440 + 0.1834320 , 0.1757396 , -0.5956607 + 0.1775148 , -0.1186391 , 0.1439842]; +c = [2 , 7 , -2 , 5 , 1 + 0 , -1 , 3 , 0 , 2]; +d = [1 , 0 , 0 + 0 , 0 , 0]; +assert_checkequal(contr(a, b), 4); +[n,U]=contr(a,b);a1=U'*a*U; +assert_checkalmostequal(abs(spec(a1(n+1:$,n+1:$))), 0, [], 1e-7); +[n,U,ind,V,Ac,Bc]=contr(a,b); +assert_checkequal(n, 4); +assert_checkalmostequal(norm(Ac(n+1:$,:),1), 0, [], 1e-7); +assert_checkalmostequal(norm(U'*a*U-Ac,1), 0, [], 1e-6); +assert_checkalmostequal(norm(U'*b*V-Bc), 0, [], 1e-10); +assert_checkfalse(execstr("contr(a,1)", "errcatch") == 0); +refMsg = msprintf(_("%s: Wrong values for input arguments #%d and #%d.\n"), "contr", 1, 2); +assert_checkerror("contr(a,1)", refMsg); +assert_checkfalse(execstr("contr(a+%s,b)", "errcatch") == 0); +refMsg = msprintf(_("%s: Wrong type for input argument #%d: A real matrix expected.\n"), "contr", 1); +assert_checkerror("contr(a+%s,b)", refMsg); +assert_checkfalse(execstr("contr(a,b,''ee'')", "errcatch") == 0); +refMsg = msprintf(_("%s: Wrong type for input argument #%d: A real scalar expected.\n"), "contr", 3); +assert_checkerror("contr(a,b,''ee'')", refMsg); +assert_checkequal(contr(a',c',0.0001), 3); diff --git a/modules/cacsd/tests/unit_tests/contr.tst b/modules/cacsd/tests/unit_tests/contr.tst new file mode 100755 index 000000000..fe4942b06 --- /dev/null +++ b/modules/cacsd/tests/unit_tests/contr.tst @@ -0,0 +1,71 @@ +// =============================================================================
+// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab
+// Copyright (C) ????-2008 - INRIA - Serge Steer
+// Copyright (C) 2012 - Scilab Enterprises - Adeline CARNIS
+//
+// This file is distributed under the same license as the Scilab package.
+// =============================================================================
+assert_checkfalse(execstr("contr()", "errcatch") == 0);
+refMsg = msprintf(_("%s: Wrong number of input argument(s): %d to %d expected.\n"), "contr", 2, 3);
+assert_checkerror("contr()", refMsg);
+
+A = ones(3,3) + 0 * %i;
+B = ones(3,3) * 2;
+assert_checkfalse(execstr("contr(A, B)", "errcatch") == 0);
+refMsg = msprintf(_("%s: Wrong type for input argument #%d: A real matrix expected.\n"), "contr", 1);
+assert_checkerror("contr(A, B)", refMsg);
+
+A = ones(3,3);
+assert_checkfalse(execstr("contr(A, complex(B))", "errcatch") == 0);
+refMsg = msprintf(_("%s: Wrong type for input argument #%d: A real matrix expected.\n"), "contr", 2);
+assert_checkerror("contr(A, complex(B))", refMsg);
+
+assert_checkfalse(execstr("contr(sparse(A), B)", "errcatch") == 0);
+refMsg = msprintf(_("%s: Wrong type for input argument #%d: A real matrix expected.\n"), "contr", 1);
+assert_checkerror("contr(sparse(A), B)", refMsg);
+
+assert_checkfalse(execstr("contr(A, sparse(B))", "errcatch") == 0);
+refMsg = msprintf(_("%s: Wrong type for input argument #%d: A real matrix expected.\n"), "contr", 2);
+assert_checkerror("contr(A, sparse(B))", refMsg);
+
+a = [0.8604043 , 0.0070020 , 0.6223373 , -1.356213 , -4.2301775
+ 0.159714 , 0.0857791 , -0.2367751 , 0.4958580 , 0.6398817
+ -4.3054931 , -0.0365878 , 2.1784911 , 0.0314793 , 2.3728994
+ -3.7115779 , -0.5370809 , 2.4291716 , -0.6352663 , 2.6972781
+ 6.3580966 , 0.1377712 , -4.0461243 , -0.5192899 , -4.0394083];
+b = [-0.0532544 , -0.1494083 , -0.0098619
+ -0.0355030 , -0.0162722 , 0.1045365
+ -0.1301775 , 0.1736686 , -0.0611440
+ 0.1834320 , 0.1757396 , -0.5956607
+ 0.1775148 , -0.1186391 , 0.1439842];
+c = [2 , 7 , -2 , 5 , 1
+ 0 , -1 , 3 , 0 , 2];
+d = [1 , 0 , 0
+ 0 , 0 , 0];
+
+assert_checkequal(contr(a, b), 4);
+
+[n,U]=contr(a,b);a1=U'*a*U;
+assert_checkalmostequal(abs(spec(a1(n+1:$,n+1:$))), 0, [], 1e-7);
+
+[n,U,ind,V,Ac,Bc]=contr(a,b);
+assert_checkequal(n, 4);
+assert_checkalmostequal(norm(Ac(n+1:$,:),1), 0, [], 1e-7);
+assert_checkalmostequal(norm(U'*a*U-Ac,1), 0, [], 1e-6);
+assert_checkalmostequal(norm(U'*b*V-Bc), 0, [], 1e-10);
+
+assert_checkfalse(execstr("contr(a,1)", "errcatch") == 0);
+refMsg = msprintf(_("%s: Wrong values for input arguments #%d and #%d.\n"), "contr", 1, 2);
+assert_checkerror("contr(a,1)", refMsg);
+
+assert_checkfalse(execstr("contr(a+%s,b)", "errcatch") == 0);
+refMsg = msprintf(_("%s: Wrong type for input argument #%d: A real matrix expected.\n"), "contr", 1);
+assert_checkerror("contr(a+%s,b)", refMsg);
+
+assert_checkfalse(execstr("contr(a,b,''ee'')", "errcatch") == 0);
+refMsg = msprintf(_("%s: Wrong type for input argument #%d: A real scalar expected.\n"), "contr", 3);
+assert_checkerror("contr(a,b,''ee'')", refMsg);
+
+assert_checkequal(contr(a',c',0.0001), 3);
+
+
diff --git a/modules/cacsd/tests/unit_tests/contrss.dia.ref b/modules/cacsd/tests/unit_tests/contrss.dia.ref new file mode 100755 index 000000000..57ade92f7 --- /dev/null +++ b/modules/cacsd/tests/unit_tests/contrss.dia.ref @@ -0,0 +1,39 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) ????-2008 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +a = [0.8604043 , 0.0070020 , 0.6223373 , -1.356213 , -4.2301775 + 0.159714 , 0.0857791 , -0.2367751 , 0.4958580 , 0.6398817 + -4.3054931 , -0.0365878 , 2.1784911 , 0.0314793 , 2.3728994 + -3.7115779 , -0.5370809 , 2.4291716 , -0.6352663 , 2.6972781 + 6.3580966 , 0.1377712 , -4.0461243 , -0.5192899 , -4.0394083]; +b = [-0.0532544 , -0.1494083 , -0.0098619 + -0.0355030 , -0.0162722 , 0.1045365 + -0.1301775 , 0.1736686 , -0.0611440 + 0.1834320 , 0.1757396 , -0.5956607 + 0.1775148 , -0.1186391 , 0.1439842]; +c = [2 , 7 , -2 , 5 , 1 + 0 , -1 , 3 , 0 , 2]; +d = [1 , 0 , 0 + 0 , 0 , 0]; +sl=syslin('c',a,b,c,d); +slc=contrss(sl,%eps); +if size(slc.A,1)<>5 then bugmes();quit;end +slc=contrss(sl); +n=size(slc.A,1); +if n<>4 then bugmes();quit;end +[n,U,ind,V,Ac,Bc]=contr(a,b); +if norm(Ac(1:n,1:n)-slc.A)>1d-14 then bugmes();quit;end +slo=obsvss(sl); +if size(slo.A,1)<>5 then bugmes();quit;end +slo=obsvss(sl,0.0001); +n=size(slo.A,1); +if n<>3 then bugmes();quit;end +[n,U,ind,V,Ao,Co]=contr(a',c',0.0001); +if norm(Ao(1:n,1:n)'-slo.A)>1d-14 then bugmes();quit;end +slm=minss(sl); +if size(slm.A,1)<>5 then bugmes();quit;end +slm=minss(sl,0.0001); +if size(slm.A,1)<>2 then bugmes();quit;end diff --git a/modules/cacsd/tests/unit_tests/contrss.tst b/modules/cacsd/tests/unit_tests/contrss.tst new file mode 100755 index 000000000..07009d7da --- /dev/null +++ b/modules/cacsd/tests/unit_tests/contrss.tst @@ -0,0 +1,48 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) ????-2008 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +a = [0.8604043 , 0.0070020 , 0.6223373 , -1.356213 , -4.2301775 + 0.159714 , 0.0857791 , -0.2367751 , 0.4958580 , 0.6398817 + -4.3054931 , -0.0365878 , 2.1784911 , 0.0314793 , 2.3728994 + -3.7115779 , -0.5370809 , 2.4291716 , -0.6352663 , 2.6972781 + 6.3580966 , 0.1377712 , -4.0461243 , -0.5192899 , -4.0394083]; +b = [-0.0532544 , -0.1494083 , -0.0098619 + -0.0355030 , -0.0162722 , 0.1045365 + -0.1301775 , 0.1736686 , -0.0611440 + 0.1834320 , 0.1757396 , -0.5956607 + 0.1775148 , -0.1186391 , 0.1439842]; +c = [2 , 7 , -2 , 5 , 1 + 0 , -1 , 3 , 0 , 2]; +d = [1 , 0 , 0 + 0 , 0 , 0]; + + +sl=syslin('c',a,b,c,d); +slc=contrss(sl,%eps); +if size(slc.A,1)<>5 then pause,end + +slc=contrss(sl); +n=size(slc.A,1); +if n<>4 then pause,end +[n,U,ind,V,Ac,Bc]=contr(a,b); +if norm(Ac(1:n,1:n)-slc.A)>1d-14 then pause,end + + + +slo=obsvss(sl); +if size(slo.A,1)<>5 then pause,end + +slo=obsvss(sl,0.0001); +n=size(slo.A,1); +if n<>3 then pause,end +[n,U,ind,V,Ao,Co]=contr(a',c',0.0001); +if norm(Ao(1:n,1:n)'-slo.A)>1d-14 then pause,end + +slm=minss(sl); +if size(slm.A,1)<>5 then pause,end + +slm=minss(sl,0.0001); +if size(slm.A,1)<>2 then pause,end diff --git a/modules/cacsd/tests/unit_tests/csim.dia.ref b/modules/cacsd/tests/unit_tests/csim.dia.ref new file mode 100755 index 000000000..bb4ada45b --- /dev/null +++ b/modules/cacsd/tests/unit_tests/csim.dia.ref @@ -0,0 +1,111 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) ????-2008 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// <-- ENGLISH IMPOSED --> +// Unit test for csim function +a=0;b=1;c=2; +t=0:0.1:1; +sl=syslin('c',a,b,c); +u=ones(1,11); +xrefstep = 0:0.1:1; +yrefstep=0:0.2:2; +//step +y=csim('step',t,sl); +assert_checkalmostequal(y, yrefstep); +y=csim('step',[],sl); +assert_checkequal(y, []); +[y1,x]=csim('step',[],sl); +assert_checkequal(y1, []); +assert_checkequal(x, []); +[y1,x]=csim('step',t,sl); +assert_checkalmostequal(y1, yrefstep); +assert_checkalmostequal(x, xrefstep); +y=csim('step',t,sl,0); +assert_checkalmostequal(y, yrefstep); +[y1,x]=csim('step',t,sl,0); +assert_checkalmostequal(y1, yrefstep); +assert_checkalmostequal(x, xrefstep); +y=csim('step',t,sl,1); +assert_checkalmostequal(y, yrefstep); +y=csim('step',t,sl,0,[10*%eps %eps]); +assert_checkalmostequal(y, yrefstep); +[y1,x]=csim('step',t,sl,1,[10*%eps %eps]); +assert_checkalmostequal(y, yrefstep); +assert_checkalmostequal(x, xrefstep); +//impulse +yrefimp=2*ones(1,11); +xrefimp=ones(1,11); +y=csim('impulse',t,sl); +assert_checkalmostequal(y, yrefimp); +y=csim('impulse',[],sl); +assert_checkequal(y, []); +[y1,x]=csim('impulse',[],sl); +assert_checkequal(y1, []); +assert_checkequal(x, []); +w=ones(t)-eye(t); +y=csim('impulse',t,sl); +assert_checkalmostequal(y, yrefimp); +[y1,x]=csim('impulse',t,sl); +assert_checkalmostequal(y1, yrefimp); +assert_checkalmostequal(x, xrefimp); +y=csim('impulse',t,sl,0); +assert_checkalmostequal(y, yrefimp); +[y1,x]=csim('impulse',t,sl,0); +assert_checkalmostequal(y1, yrefimp); +assert_checkalmostequal(x, xrefimp); +y=csim('impulse',t,sl,1); +assert_checkalmostequal(y, yrefimp); +[y1,x]=csim('impulse',t,sl,1); +assert_checkalmostequal(y1, yrefimp); +assert_checkalmostequal(x, xrefimp); +y=csim('impulse',t,sl,0,[10*%eps %eps]); +assert_checkalmostequal(y, yrefimp); +[y1,x]=csim('impulse',t,sl,1,[10*%eps %eps]); +assert_checkalmostequal(y1, yrefimp); +assert_checkalmostequal(x, xrefimp); +//function +function y=step(t),if t<0 then y=0,else y=1,end,endfunction +y=csim(step,t,sl); +assert_checkalmostequal(y, yrefstep); +y=csim(step,[],sl); +assert_checkequal(y, []); +[y1,x]=csim(step,[],sl); +assert_checkequal(y1, []); +assert_checkequal(x, []); +y=csim(step,t',sl); +assert_checkalmostequal(y, yrefstep); +[y1,x]=csim(step,t,sl); +assert_checkalmostequal(y1, yrefstep); +assert_checkalmostequal(x, xrefstep); +y=csim(step,t,sl,0); +assert_checkalmostequal(y, yrefstep); +[y1,x]=csim(step,t,sl,0); +assert_checkalmostequal(y1, yrefstep); +assert_checkalmostequal(x, xrefstep); +yrefstep2=2:0.2:4; +xrefstep2=1:0.1:2; +y=csim(step,t,sl,1); +assert_checkalmostequal(y, yrefstep2); +[y1,x]=csim(step,t,sl,1); +assert_checkalmostequal(y1, yrefstep2); +assert_checkalmostequal(x, xrefstep2); +y=csim(step,t,sl,0,[10*%eps %eps]); +assert_checkalmostequal(y, yrefstep); +//with transfer function +y=csim(step,t,ss2tf(sl)); +assert_checkalmostequal(y, yrefstep); +//with parameter +function y=step(t,t0),if t<t0 then y=0,else y=1,end,endfunction +Warning : redefining function: step . Use funcprot(0) to avoid this message + +y=csim(list(step,0),t,sl); +Warning : redefining function: uu . Use funcprot(0) to avoid this message + +assert_checkalmostequal(y, yrefstep); +y=csim(list(step,0),t,ss2tf(sl)); +Warning : redefining function: uu . Use funcprot(0) to avoid this message + +assert_checkalmostequal(y, yrefstep); diff --git a/modules/cacsd/tests/unit_tests/csim.tst b/modules/cacsd/tests/unit_tests/csim.tst new file mode 100755 index 000000000..4a46e6e95 --- /dev/null +++ b/modules/cacsd/tests/unit_tests/csim.tst @@ -0,0 +1,143 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) ????-2008 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +// <-- ENGLISH IMPOSED --> + +// Unit test for csim function + +a=0;b=1;c=2; +t=0:0.1:1; +sl=syslin('c',a,b,c); +u=ones(1,11); +xrefstep = 0:0.1:1; +yrefstep=0:0.2:2; + +//step +y=csim('step',t,sl); +assert_checkalmostequal(y, yrefstep); +y=csim('step',[],sl); +assert_checkequal(y, []); +[y1,x]=csim('step',[],sl); +assert_checkequal(y1, []); +assert_checkequal(x, []); + +[y1,x]=csim('step',t,sl); +assert_checkalmostequal(y1, yrefstep); +assert_checkalmostequal(x, xrefstep); + +y=csim('step',t,sl,0); +assert_checkalmostequal(y, yrefstep); + +[y1,x]=csim('step',t,sl,0); +assert_checkalmostequal(y1, yrefstep); +assert_checkalmostequal(x, xrefstep); + +y=csim('step',t,sl,1); +assert_checkalmostequal(y, yrefstep); + +y=csim('step',t,sl,0,[10*%eps %eps]); +assert_checkalmostequal(y, yrefstep); + +[y1,x]=csim('step',t,sl,1,[10*%eps %eps]); +assert_checkalmostequal(y, yrefstep); +assert_checkalmostequal(x, xrefstep); + + +//impulse +yrefimp=2*ones(1,11); +xrefimp=ones(1,11); + +y=csim('impulse',t,sl); +assert_checkalmostequal(y, yrefimp); + +y=csim('impulse',[],sl); +assert_checkequal(y, []); + +[y1,x]=csim('impulse',[],sl); +assert_checkequal(y1, []); +assert_checkequal(x, []); + +w=ones(t)-eye(t); +y=csim('impulse',t,sl); +assert_checkalmostequal(y, yrefimp); + +[y1,x]=csim('impulse',t,sl); +assert_checkalmostequal(y1, yrefimp); +assert_checkalmostequal(x, xrefimp); + +y=csim('impulse',t,sl,0); +assert_checkalmostequal(y, yrefimp); + +[y1,x]=csim('impulse',t,sl,0); +assert_checkalmostequal(y1, yrefimp); +assert_checkalmostequal(x, xrefimp); + +y=csim('impulse',t,sl,1); +assert_checkalmostequal(y, yrefimp); + +[y1,x]=csim('impulse',t,sl,1); +assert_checkalmostequal(y1, yrefimp); +assert_checkalmostequal(x, xrefimp); + +y=csim('impulse',t,sl,0,[10*%eps %eps]); +assert_checkalmostequal(y, yrefimp); + +[y1,x]=csim('impulse',t,sl,1,[10*%eps %eps]); +assert_checkalmostequal(y1, yrefimp); +assert_checkalmostequal(x, xrefimp); + +//function +function y=step(t),if t<0 then y=0,else y=1,end,endfunction + +y=csim(step,t,sl); +assert_checkalmostequal(y, yrefstep); + +y=csim(step,[],sl); +assert_checkequal(y, []); + +[y1,x]=csim(step,[],sl); +assert_checkequal(y1, []); +assert_checkequal(x, []); + +y=csim(step,t',sl); +assert_checkalmostequal(y, yrefstep); + +[y1,x]=csim(step,t,sl); +assert_checkalmostequal(y1, yrefstep); +assert_checkalmostequal(x, xrefstep); + +y=csim(step,t,sl,0); +assert_checkalmostequal(y, yrefstep); + +[y1,x]=csim(step,t,sl,0); +assert_checkalmostequal(y1, yrefstep); +assert_checkalmostequal(x, xrefstep); + +yrefstep2=2:0.2:4; +xrefstep2=1:0.1:2; +y=csim(step,t,sl,1); +assert_checkalmostequal(y, yrefstep2); + +[y1,x]=csim(step,t,sl,1); +assert_checkalmostequal(y1, yrefstep2); +assert_checkalmostequal(x, xrefstep2); + +y=csim(step,t,sl,0,[10*%eps %eps]); +assert_checkalmostequal(y, yrefstep); + +//with transfer function +y=csim(step,t,ss2tf(sl)); +assert_checkalmostequal(y, yrefstep); + +//with parameter +function y=step(t,t0),if t<t0 then y=0,else y=1,end,endfunction + +y=csim(list(step,0),t,sl); +assert_checkalmostequal(y, yrefstep); + +y=csim(list(step,0),t,ss2tf(sl)); +assert_checkalmostequal(y, yrefstep); diff --git a/modules/cacsd/tests/unit_tests/damp.dia.ref b/modules/cacsd/tests/unit_tests/damp.dia.ref new file mode 100755 index 000000000..0f3947aee --- /dev/null +++ b/modules/cacsd/tests/unit_tests/damp.dia.ref @@ -0,0 +1,100 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2001 - INRIA - Serge Steer +// Copyright (C) 2012 - DIGITEO - Allan CORNET +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +//Vector of complex numbers +R=[2 1+%i 2-3*%i]; +[wn,zeta]=damp(R); +assert_checkequal (wn,abs(R)); +assert_checkequal (zeta,-real(R)./wn); +dt=1; +[wn,zeta]=damp(R,dt); +Rd=log(R)/dt; +assert_checkequal (wn,abs(Rd)); +assert_checkequal (zeta,-real(Rd)./wn); +R=0; +[wn,zeta]=damp(R); +assert_checkequal (wn,0); +assert_checkequal (zeta,-1); +R=0;dt=1; +[wn,zeta]=damp(R,dt); +assert_checkequal (wn,%inf); +assert_checkequal (zeta,%nan); +R=1;dt=1; +[wn,zeta]=damp(R,dt); +assert_checkequal (wn,0); +assert_checkequal (zeta,-1); +R=1; +[wn,zeta]=damp(R); +assert_checkequal (wn,1); +assert_checkequal (zeta,-1); +//Polynomial and Polynomial array +P=real([poly([2 1+%i 1-%i 2-3*%i 2+3*%i],'s'),poly(0,'s'),poly(1,'s')]); +[wn,zeta]=damp(P); +wnref=[0;1;sqrt(2);sqrt(2);2;sqrt(13);sqrt(13)]; +zetaref=[-1;-1;-sqrt(2)/2;-sqrt(2)/2;-1;-2/sqrt(13);-2/sqrt(13)]; +assert_checkalmostequal (wn,wnref); +assert_checkalmostequal (zeta,zetaref); +[wn,zeta]=damp(prod(P)); +wnref=[0;1;sqrt(2);sqrt(2);2;sqrt(13);sqrt(13)]; +zetaref=[-1;-1;-sqrt(2)/2;-sqrt(2)/2;-1;-2/sqrt(13);-2/sqrt(13)]; +assert_checkalmostequal (wn,wnref); +assert_checkalmostequal (zeta,zetaref); +dt=1; +[wn,zeta]=damp(P,dt); +t1=log(1+%i)/dt; +t2=log(2-3*%i)/dt; +wnref=[0;log(2);abs(t1);abs(t1);abs(t2);abs(t2);%inf]; +zetaref=[-1;-1;-real(t1)/abs(t1);-real(t1)/abs(t1);-real(t2)/abs(t2);-real(t2)/abs(t2);%nan]; +assert_checkalmostequal (wn,wnref); +assert_checkalmostequal (zeta(2:$),zetaref(2:$)); +assert_checktrue(abs(abs(zeta(1))-1)<100*%eps); +dt=1; +[wn,zeta]=damp(prod(P),dt); +t1=log(1+%i)/dt; +t2=log(2-3*%i)/dt; +wnref=[0;log(2);abs(t1);abs(t1);abs(t2);abs(t2);%inf]; +zetaref=[1;-1;-real(t1)/abs(t1);-real(t1)/abs(t1);-real(t2)/abs(t2);-real(t2)/abs(t2);%nan]; +assert_checkalmostequal (wn,wnref, 0, 1D-14); +assert_checkalmostequal (zeta(2:$),zetaref(2:$)); +assert_checktrue(abs(abs(zeta(1))-1)<100*%eps); +//transfer function +[wn,zeta]=damp(syslin('c',ones(1,3),P)); +wnref=[0;1;sqrt(2);sqrt(2);2;sqrt(13);sqrt(13)]; +zetaref=[-1;-1;-sqrt(2)/2;-sqrt(2)/2;-1;-2/sqrt(13);-2/sqrt(13)]; +assert_checkalmostequal (wn,wnref, 0, 1D-14); +assert_checkalmostequal (zeta(2:$),zetaref(2:$)); +assert_checktrue(abs(abs(zeta(1))-1)<100*%eps); +dt=1; +[wn,zeta]=damp(syslin(dt,ones(1,3),P)); +t1=log(1+%i)/dt; +t2=log(2-3*%i)/dt; +wnref=[0;log(2);abs(t1);abs(t1);abs(t2);abs(t2);%inf]; +zetaref=[1;-1;-real(t1)/abs(t1);-real(t1)/abs(t1);-real(t2)/abs(t2);-real(t2)/abs(t2);%nan]; +assert_checkalmostequal (wn,wnref,0, 1D-14); +assert_checkalmostequal (zeta(2:$),zetaref(2:$)); +assert_checktrue(abs(abs(zeta(1))-1)<100*%eps); +//state-space +[wn,zeta]=damp(tf2ss(syslin('c',1,prod(P)))); +wnref=[0;1;sqrt(2);sqrt(2);2;sqrt(13);sqrt(13)]; +zetaref=[-1;-1;-sqrt(2)/2;-sqrt(2)/2;-1;-2/sqrt(13);-2/sqrt(13)]; +assert_checkalmostequal (wn,wnref); +assert_checkalmostequal (zeta(2:$),zetaref(2:$)); +assert_checktrue(abs(abs(zeta(1))-1)<100*%eps); +dt=1; +[wn,zeta]=damp(tf2ss(syslin(dt,1,prod(P)))); +t1=log(1+%i)/dt; +t2=log(2-3*%i)/dt; +wnref=[0;log(2);abs(t1);abs(t1);abs(t2);abs(t2);%inf]; +zetaref=[1;-1;-real(t1)/abs(t1);-real(t1)/abs(t1);-real(t2)/abs(t2);-real(t2)/abs(t2);%nan]; +assert_checkalmostequal (wn, wnref, 0, 1D-14) ; +assert_checkalmostequal (zeta(2:$),zetaref(2:$)) ; +assert_checktrue(abs(abs(zeta(1))-1)<100*%eps); +//invalid calls +assert_checkfalse(execstr("[wn,zeta]=damp()","errcatch")==0); +assert_checkfalse(execstr("[wn,zeta]=damp(%t)","errcatch")==0); +assert_checkfalse(execstr("[wn,zeta]=damp(P,1:3)","errcatch")==0); +assert_checkfalse(execstr("[wn,zeta]=damp(P,%t)","errcatch")==0); diff --git a/modules/cacsd/tests/unit_tests/damp.tst b/modules/cacsd/tests/unit_tests/damp.tst new file mode 100755 index 000000000..197a4bf88 --- /dev/null +++ b/modules/cacsd/tests/unit_tests/damp.tst @@ -0,0 +1,115 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2001 - INRIA - Serge Steer +// Copyright (C) 2012 - DIGITEO - Allan CORNET +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +//Vector of complex numbers + +R=[2 1+%i 2-3*%i]; +[wn,zeta]=damp(R); +assert_checkequal (wn,abs(R)); +assert_checkequal (zeta,-real(R)./wn); + +dt=1; +[wn,zeta]=damp(R,dt); +Rd=log(R)/dt; +assert_checkequal (wn,abs(Rd)); +assert_checkequal (zeta,-real(Rd)./wn); + +R=0; +[wn,zeta]=damp(R); +assert_checkequal (wn,0); +assert_checkequal (zeta,-1); + +R=0;dt=1; +[wn,zeta]=damp(R,dt); +assert_checkequal (wn,%inf); +assert_checkequal (zeta,%nan); + +R=1;dt=1; +[wn,zeta]=damp(R,dt); +assert_checkequal (wn,0); +assert_checkequal (zeta,-1); + +R=1; +[wn,zeta]=damp(R); +assert_checkequal (wn,1); +assert_checkequal (zeta,-1); + +//Polynomial and Polynomial array +P=real([poly([2 1+%i 1-%i 2-3*%i 2+3*%i],'s'),poly(0,'s'),poly(1,'s')]); +[wn,zeta]=damp(P); +wnref=[0;1;sqrt(2);sqrt(2);2;sqrt(13);sqrt(13)]; +zetaref=[-1;-1;-sqrt(2)/2;-sqrt(2)/2;-1;-2/sqrt(13);-2/sqrt(13)]; +assert_checkalmostequal (wn,wnref); +assert_checkalmostequal (zeta,zetaref); + +[wn,zeta]=damp(prod(P)); +wnref=[0;1;sqrt(2);sqrt(2);2;sqrt(13);sqrt(13)]; +zetaref=[-1;-1;-sqrt(2)/2;-sqrt(2)/2;-1;-2/sqrt(13);-2/sqrt(13)]; +assert_checkalmostequal (wn,wnref); +assert_checkalmostequal (zeta,zetaref); + +dt=1; +[wn,zeta]=damp(P,dt); +t1=log(1+%i)/dt; +t2=log(2-3*%i)/dt; +wnref=[0;log(2);abs(t1);abs(t1);abs(t2);abs(t2);%inf]; +zetaref=[-1;-1;-real(t1)/abs(t1);-real(t1)/abs(t1);-real(t2)/abs(t2);-real(t2)/abs(t2);%nan]; +assert_checkalmostequal (wn,wnref); +assert_checkalmostequal (zeta(2:$),zetaref(2:$)); +assert_checktrue(abs(abs(zeta(1))-1)<100*%eps); + +dt=1; +[wn,zeta]=damp(prod(P),dt); +t1=log(1+%i)/dt; +t2=log(2-3*%i)/dt; +wnref=[0;log(2);abs(t1);abs(t1);abs(t2);abs(t2);%inf]; +zetaref=[1;-1;-real(t1)/abs(t1);-real(t1)/abs(t1);-real(t2)/abs(t2);-real(t2)/abs(t2);%nan]; +assert_checkalmostequal (wn,wnref, 0, 1D-14); +assert_checkalmostequal (zeta(2:$),zetaref(2:$)); +assert_checktrue(abs(abs(zeta(1))-1)<100*%eps); + +//transfer function +[wn,zeta]=damp(syslin('c',ones(1,3),P)); +wnref=[0;1;sqrt(2);sqrt(2);2;sqrt(13);sqrt(13)]; +zetaref=[-1;-1;-sqrt(2)/2;-sqrt(2)/2;-1;-2/sqrt(13);-2/sqrt(13)]; +assert_checkalmostequal (wn,wnref, 0, 1D-14); +assert_checkalmostequal (zeta(2:$),zetaref(2:$)); +assert_checktrue(abs(abs(zeta(1))-1)<100*%eps); + +dt=1; +[wn,zeta]=damp(syslin(dt,ones(1,3),P)); +t1=log(1+%i)/dt; +t2=log(2-3*%i)/dt; +wnref=[0;log(2);abs(t1);abs(t1);abs(t2);abs(t2);%inf]; +zetaref=[1;-1;-real(t1)/abs(t1);-real(t1)/abs(t1);-real(t2)/abs(t2);-real(t2)/abs(t2);%nan]; +assert_checkalmostequal (wn,wnref,0, 1D-14); +assert_checkalmostequal (zeta(2:$),zetaref(2:$)); +assert_checktrue(abs(abs(zeta(1))-1)<100*%eps); + +//state-space +[wn,zeta]=damp(tf2ss(syslin('c',1,prod(P)))); +wnref=[0;1;sqrt(2);sqrt(2);2;sqrt(13);sqrt(13)]; +zetaref=[-1;-1;-sqrt(2)/2;-sqrt(2)/2;-1;-2/sqrt(13);-2/sqrt(13)]; +assert_checkalmostequal (wn,wnref); +assert_checkalmostequal (zeta(2:$),zetaref(2:$)); +assert_checktrue(abs(abs(zeta(1))-1)<100*%eps); + +dt=1; +[wn,zeta]=damp(tf2ss(syslin(dt,1,prod(P)))); +t1=log(1+%i)/dt; +t2=log(2-3*%i)/dt; +wnref=[0;log(2);abs(t1);abs(t1);abs(t2);abs(t2);%inf]; +zetaref=[1;-1;-real(t1)/abs(t1);-real(t1)/abs(t1);-real(t2)/abs(t2);-real(t2)/abs(t2);%nan]; +assert_checkalmostequal (wn, wnref, 0, 1D-14) ; +assert_checkalmostequal (zeta(2:$),zetaref(2:$)) ; +assert_checktrue(abs(abs(zeta(1))-1)<100*%eps); + +//invalid calls +assert_checkfalse(execstr("[wn,zeta]=damp()","errcatch")==0); +assert_checkfalse(execstr("[wn,zeta]=damp(%t)","errcatch")==0); +assert_checkfalse(execstr("[wn,zeta]=damp(P,1:3)","errcatch")==0); +assert_checkfalse(execstr("[wn,zeta]=damp(P,%t)","errcatch")==0); diff --git a/modules/cacsd/tests/unit_tests/dhinf.dia.ref b/modules/cacsd/tests/unit_tests/dhinf.dia.ref new file mode 100755 index 000000000..53dc7ffc1 --- /dev/null +++ b/modules/cacsd/tests/unit_tests/dhinf.dia.ref @@ -0,0 +1,58 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2012 - SE - Sylvestre Ledru +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +A=[-0.7 0 0.3 0 -0.5 -0.1 + -0.6 0.2 -0.4 -0.3 0 0 + -0.5 0.7 -0.1 0 0 -0.8 + -0.7 0 0 -0.5 -1 0 + 0 0.3 0.6 -0.9 0.1 -0.4 + 0.5 -0.8 0 0 0.2 -0.9]; +B=[-1 -2 -2 1 0 + 1 0 1 -2 1 + -3 -4 0 2 -2 + 1 -2 1 0 -1 + 0 1 -2 0 3 + 1 0 3 -1 -2]; +C=[ 1 -1 2 -2 0 -3 + -3 0 1 -1 1 0 + 0 2 0 -4 0 -2 + 1 -3 0 0 3 1 + 0 1 -2 1 0 -2]; +D=[1 -1 -2 0 0 + 0 1 0 1 0 + 2 -1 -3 0 1 + 0 1 0 1 -1 + 0 0 1 2 1]; +ncon=2 + ncon = + + 2. +nmeas=2 + nmeas = + + 2. +gam=111.30; +[AK,BK,CK,DK] = dhinf(A,B,C,D,ncon,nmeas,gam); +DK_ref=[9.0643622,7.5621326; +-3.4130376,-2.8323139]; +CK_ref=[-9.2274286,27.617295,13.786069,-0.3641854,-21.675515,9.6380172; +3.661606,-10.657654,-5.2960847,0.2432695,8.1401006,-3.6427294]; +BK_ref=[17.040893,14.216801; +-18.990171,-15.73011; +25.296356,21.361546; +20.185869,16.893822; +1.4151937,1.2079724; +5.3371104,4.5307879]; +AK_ref=[-18.066348,52.229142,26.177583,-0.4276594,-41.049028,18.153152; +18.890371,-57.836295,-29.19831,0.5876879,45.493269,-19.939051; +-26.692988,78.252232,39.17635,-1.4029006,-60.329721,26.790618; +-21.491455,62.399041,30.862738,-0.9208084,-48.796168,21.915137; +-0.8960266,4.2934499,2.3358869,-0.2424272,-3.0488883,1.2220794; +-5.347976,16.254159,8.5113556,-0.2490600,-12.279774,5.1796586]; +assert_checkalmostequal(AK,AK_ref, 1.e-6 ); +assert_checkalmostequal(BK,BK_ref, 1.e-6 ); +assert_checkalmostequal(CK,CK_ref, 1.e-6 ); +assert_checkalmostequal(DK,DK_ref, 1.e-6 ); diff --git a/modules/cacsd/tests/unit_tests/dhinf.tst b/modules/cacsd/tests/unit_tests/dhinf.tst new file mode 100755 index 000000000..c7991ca3b --- /dev/null +++ b/modules/cacsd/tests/unit_tests/dhinf.tst @@ -0,0 +1,59 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2012 - SE - Sylvestre Ledru +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +A=[-0.7 0 0.3 0 -0.5 -0.1 + -0.6 0.2 -0.4 -0.3 0 0 + -0.5 0.7 -0.1 0 0 -0.8 + -0.7 0 0 -0.5 -1 0 + 0 0.3 0.6 -0.9 0.1 -0.4 + 0.5 -0.8 0 0 0.2 -0.9]; +B=[-1 -2 -2 1 0 + 1 0 1 -2 1 + -3 -4 0 2 -2 + 1 -2 1 0 -1 + 0 1 -2 0 3 + 1 0 3 -1 -2]; +C=[ 1 -1 2 -2 0 -3 + -3 0 1 -1 1 0 + 0 2 0 -4 0 -2 + 1 -3 0 0 3 1 + 0 1 -2 1 0 -2]; +D=[1 -1 -2 0 0 + 0 1 0 1 0 + 2 -1 -3 0 1 + 0 1 0 1 -1 + 0 0 1 2 1]; + +ncon=2 +nmeas=2 +gam=111.30; +[AK,BK,CK,DK] = dhinf(A,B,C,D,ncon,nmeas,gam); + +DK_ref=[9.0643622,7.5621326; +-3.4130376,-2.8323139]; + +CK_ref=[-9.2274286,27.617295,13.786069,-0.3641854,-21.675515,9.6380172; +3.661606,-10.657654,-5.2960847,0.2432695,8.1401006,-3.6427294]; + +BK_ref=[17.040893,14.216801; +-18.990171,-15.73011; +25.296356,21.361546; +20.185869,16.893822; +1.4151937,1.2079724; +5.3371104,4.5307879]; + +AK_ref=[-18.066348,52.229142,26.177583,-0.4276594,-41.049028,18.153152; +18.890371,-57.836295,-29.19831,0.5876879,45.493269,-19.939051; +-26.692988,78.252232,39.17635,-1.4029006,-60.329721,26.790618; +-21.491455,62.399041,30.862738,-0.9208084,-48.796168,21.915137; +-0.8960266,4.2934499,2.3358869,-0.2424272,-3.0488883,1.2220794; +-5.347976,16.254159,8.5113556,-0.2490600,-12.279774,5.1796586]; + +assert_checkalmostequal(AK,AK_ref, 1.e-6 ); +assert_checkalmostequal(BK,BK_ref, 1.e-6 ); +assert_checkalmostequal(CK,CK_ref, 1.e-6 ); +assert_checkalmostequal(DK,DK_ref, 1.e-6 ); diff --git a/modules/cacsd/tests/unit_tests/dscr.dia.ref b/modules/cacsd/tests/unit_tests/dscr.dia.ref new file mode 100755 index 000000000..1911c3197 --- /dev/null +++ b/modules/cacsd/tests/unit_tests/dscr.dia.ref @@ -0,0 +1,44 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2008 - INRIA - Serge Steer +// Copyright (C) 2011 - DIGITEO - Michael Baudin +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// Case #1 +a=-1/3; +b=1; +c=1; +sl=syslin('c',a,b,c); +sld=dscr(sl,0.1); +assert_checkalmostequal ( sld.dt , 0.1 , %eps ); +computed = sld.A; +expected = exp(sl.A*0.1); +assert_checkalmostequal ( computed , expected , %eps ); +computed = sld.B; +expected = sl.A\(sld.A-eye())*sl.B; +assert_checkalmostequal ( computed , expected , %eps ); +// Case #2 +a=[0.9,0,0.6,-1.4,-4.2; + 0.2,0.1,-0.2,0.5,0.6; + -4.3,0,2.2,0,2.4; + -3.7,-0.5,2.4,-0.6,2.7; + 6.4,0.1,-4,-0.5,-4]; +b=[-0.1,-0.1,0; + 0,0,0.1; + -0.1,0.2,-0.1; + 0.2,0.2,-0.6; + 0.2,-0.1,0.1]; +c=[2,7,-2,5,1 + 0,-1,3,0,2]; +d=[1,0,0 + 0,0,0]; +sl=syslin('c',a,b,c,d); +sld=dscr(sl,0.1); +assert_checkalmostequal ( sld.dt , 0.1 , %eps ); +computed = sld.A; +expected = expm(sl.A*0.1); +assert_checkalmostequal ( computed , expected , 1.e3 * %eps ); +computed = sld.B; +expected = sl.A\(sld.A-eye())*sl.B; +assert_checkalmostequal ( computed , expected , 2.e5 * %eps ); diff --git a/modules/cacsd/tests/unit_tests/dscr.tst b/modules/cacsd/tests/unit_tests/dscr.tst new file mode 100755 index 000000000..5b56695d8 --- /dev/null +++ b/modules/cacsd/tests/unit_tests/dscr.tst @@ -0,0 +1,52 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2008 - INRIA - Serge Steer +// Copyright (C) 2011 - DIGITEO - Michael Baudin +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + + + +// Case #1 +a=-1/3; +b=1; +c=1; +sl=syslin('c',a,b,c); +sld=dscr(sl,0.1); +assert_checkalmostequal ( sld.dt , 0.1 , %eps ); +computed = sld.A; +expected = exp(sl.A*0.1); +assert_checkalmostequal ( computed , expected , %eps ); +computed = sld.B; +expected = sl.A\(sld.A-eye())*sl.B; +assert_checkalmostequal ( computed , expected , %eps ); + +// Case #2 +a=[0.9,0,0.6,-1.4,-4.2; + 0.2,0.1,-0.2,0.5,0.6; + -4.3,0,2.2,0,2.4; + -3.7,-0.5,2.4,-0.6,2.7; + 6.4,0.1,-4,-0.5,-4]; + +b=[-0.1,-0.1,0; + 0,0,0.1; + -0.1,0.2,-0.1; + 0.2,0.2,-0.6; + 0.2,-0.1,0.1]; + +c=[2,7,-2,5,1 + 0,-1,3,0,2]; +d=[1,0,0 + 0,0,0]; + +sl=syslin('c',a,b,c,d); +sld=dscr(sl,0.1); +assert_checkalmostequal ( sld.dt , 0.1 , %eps ); +computed = sld.A; +expected = expm(sl.A*0.1); +assert_checkalmostequal ( computed , expected , 1.e3 * %eps ); +computed = sld.B; +expected = sl.A\(sld.A-eye())*sl.B; +assert_checkalmostequal ( computed , expected , 2.e5 * %eps ); + diff --git a/modules/cacsd/tests/unit_tests/flts.dia.ref b/modules/cacsd/tests/unit_tests/flts.dia.ref new file mode 100755 index 000000000..d8968df02 --- /dev/null +++ b/modules/cacsd/tests/unit_tests/flts.dia.ref @@ -0,0 +1,22 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) ????-2008 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +a=0.9;b=1;c=1; +sl=syslin('d',a,b,c); +h=ss2tf(sl); +y=flts([1 0 0 0 ],sl); +if norm(y-[0 a.^(0:2)])>1d-15 then bugmes();quit;end +[y,x]=flts([1 0 0 0 ],sl); +if norm(y-[0 a.^(0:2)])>1d-15 then bugmes();quit;end +if abs(x-a^3)>1d-15 then bugmes();quit;end +y=flts([1 0 0 0 ],sl,1); +if norm(y-([0 a.^(0:2)]+a.^(0:3)))>1d-15 then bugmes();quit;end +[y,x]=flts([1 0 0 0 ],sl,1); +if norm(y-([0 a.^(0:2)]+a.^(0:3)))>1d-15 then bugmes();quit;end +if abs(x-(a^4+a^3))>1d-15 then bugmes();quit;end +y=flts([1 0 0 0 ],h); +if norm(y-[0 a.^(0:2)])>1d-15 then bugmes();quit;end +if execstr("[y,x]=flts([1 0 0 0 ],h);","errcatch")==0 then bugmes();quit;end diff --git a/modules/cacsd/tests/unit_tests/flts.tst b/modules/cacsd/tests/unit_tests/flts.tst new file mode 100755 index 000000000..27f1c434c --- /dev/null +++ b/modules/cacsd/tests/unit_tests/flts.tst @@ -0,0 +1,26 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) ????-2008 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +a=0.9;b=1;c=1; +sl=syslin('d',a,b,c); +h=ss2tf(sl); +y=flts([1 0 0 0 ],sl); +if norm(y-[0 a.^(0:2)])>1d-15 then pause,end + +[y,x]=flts([1 0 0 0 ],sl); +if norm(y-[0 a.^(0:2)])>1d-15 then pause,end +if abs(x-a^3)>1d-15 then pause,end + + +y=flts([1 0 0 0 ],sl,1); +if norm(y-([0 a.^(0:2)]+a.^(0:3)))>1d-15 then pause,end +[y,x]=flts([1 0 0 0 ],sl,1); +if norm(y-([0 a.^(0:2)]+a.^(0:3)))>1d-15 then pause,end +if abs(x-(a^4+a^3))>1d-15 then pause,end + +y=flts([1 0 0 0 ],h); +if norm(y-[0 a.^(0:2)])>1d-15 then pause,end +if execstr("[y,x]=flts([1 0 0 0 ],h);","errcatch")==0 then pause,end diff --git a/modules/cacsd/tests/unit_tests/freq.dia.ref b/modules/cacsd/tests/unit_tests/freq.dia.ref new file mode 100755 index 000000000..c257505e2 --- /dev/null +++ b/modules/cacsd/tests/unit_tests/freq.dia.ref @@ -0,0 +1,27 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) ????-2008 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +h=syslin('c',1/%s) + h = + + 1 + - + s +if norm(freq(h.num,h.den,1:3)-[1 1/2 1/3])>1d-15 then bugmes();quit;end +if norm(freq(h.num,h.den,%i*(1:3))+%i*[1 1/2 1/3])>1d-15 then bugmes();quit;end +sl=tf2ss(h); +if norm(freq(sl.A,sl.B,sl.C,1:3)-[1 1/2 1/3])>1d-15 then bugmes();quit;end +if norm(freq(sl.A,sl.B,sl.C,%i*(1:3))+%i*[1 1/2 1/3])>1d-15 then bugmes();quit;end +if norm(freq(sl.A,sl.B,sl.C,0,1:3)-[1 1/2 1/3])>1d-15 then bugmes();quit;end +if norm(freq(sl.A,sl.B,sl.C,0,%i*(1:3))+%i*[1 1/2 1/3])>1d-15 then bugmes();quit;end +A=[1 2;3 4];H=A/%s; +if norm(freq(H.num,H.den,1:3)-[1 1/2 1/3].*.A,1)>1d-15 then bugmes();quit;end +if norm(freq(H.num,H.den,%i*(1:3))+%i*[1 1/2 1/3].*.A,1)>1d-15 then bugmes();quit;end +A=[1 2;3 4];H=A/%s;sl=tf2ss(H); +if norm(freq(sl.A,sl.B,sl.C,1:3)-[1 1/2 1/3].*.A,1)>3d-15 then bugmes();quit;end +if norm(freq(sl.A,sl.B,sl.C,%i*(1:3))+%i*[1 1/2 1/3].*.A,1)>3d-15 then bugmes();quit;end +if norm(freq(sl.A,sl.B,sl.C,sl.D,1:3)-[1 1/2 1/3].*.A,1)>3d-15 then bugmes();quit;end +if norm(freq(sl.A,sl.B,sl.C,sl.D,%i*(1:3))+%i*[1 1/2 1/3].*.A,1)>3d-15 then bugmes();quit;end diff --git a/modules/cacsd/tests/unit_tests/freq.tst b/modules/cacsd/tests/unit_tests/freq.tst new file mode 100755 index 000000000..f3a483e10 --- /dev/null +++ b/modules/cacsd/tests/unit_tests/freq.tst @@ -0,0 +1,30 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) ????-2008 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +h=syslin('c',1/%s) + +if norm(freq(h.num,h.den,1:3)-[1 1/2 1/3])>1d-15 then pause,end +if norm(freq(h.num,h.den,%i*(1:3))+%i*[1 1/2 1/3])>1d-15 then pause,end + + +sl=tf2ss(h); +if norm(freq(sl.A,sl.B,sl.C,1:3)-[1 1/2 1/3])>1d-15 then pause,end +if norm(freq(sl.A,sl.B,sl.C,%i*(1:3))+%i*[1 1/2 1/3])>1d-15 then pause,end +if norm(freq(sl.A,sl.B,sl.C,0,1:3)-[1 1/2 1/3])>1d-15 then pause,end +if norm(freq(sl.A,sl.B,sl.C,0,%i*(1:3))+%i*[1 1/2 1/3])>1d-15 then pause,end + + +A=[1 2;3 4];H=A/%s; +if norm(freq(H.num,H.den,1:3)-[1 1/2 1/3].*.A,1)>1d-15 then pause,end +if norm(freq(H.num,H.den,%i*(1:3))+%i*[1 1/2 1/3].*.A,1)>1d-15 then pause,end + +A=[1 2;3 4];H=A/%s;sl=tf2ss(H); +if norm(freq(sl.A,sl.B,sl.C,1:3)-[1 1/2 1/3].*.A,1)>3d-15 then pause,end +if norm(freq(sl.A,sl.B,sl.C,%i*(1:3))+%i*[1 1/2 1/3].*.A,1)>3d-15 then pause,end + +if norm(freq(sl.A,sl.B,sl.C,sl.D,1:3)-[1 1/2 1/3].*.A,1)>3d-15 then pause,end +if norm(freq(sl.A,sl.B,sl.C,sl.D,%i*(1:3))+%i*[1 1/2 1/3].*.A,1)>3d-15 then pause,end + diff --git a/modules/cacsd/tests/unit_tests/freqplots.dia.ref b/modules/cacsd/tests/unit_tests/freqplots.dia.ref new file mode 100755 index 000000000..ad9f6bbbb --- /dev/null +++ b/modules/cacsd/tests/unit_tests/freqplots.dia.ref @@ -0,0 +1,51 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) ????-2008 - INRIA Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// <-- TEST WITH GRAPHIC --> +plots=['bode','black','nyquist','gainplot']; +s=poly(0,'s'); +h=syslin('c',(s^2+2*0.9*10*s+100)/(s^2+2*0.3*10.1*s+102.01)); +h1=h*syslin('c',(s^2+2*0.1*15.1*s+228.01)/(s^2+2*0.9*15*s+225)); +hd=dscr(h,0.01); +hd1=dscr(h1,0.01); +[frq,repf]=repfreq([h;h1],0.01,100); +[phi,db]=phasemag(repf); +Args=list(.. + list(h),.. + list(h,0.01,100),.. + list(h,0.01,100,'h'),.. + list([h;h1]),.. + list([h;h1],0.01,100),.. + list([h;h1],0.01,100,['h';'h1']),.. + list(hd),.. + list(hd,0.01,100),.. + list(hd,0.01,100,'hd'),.. + list([hd;hd1]),.. + list([hd;hd1],0.01,100),.. + list([hd;hd1],0.01,100,['hd';'hd1']),.. + list(frq,repf(1,:)),.. + list(frq,repf(1,:),'h'),.. + list(frq,repf),.. + list(frq,repf,['h';'h1']),.. + list([frq;frq],repf,['h';'h1']),.. + list(frq,db(1,:),phi(1,:)),.. + list(frq,db(1,:),phi(1,:),'h'),.. + list(frq,db,phi),.. + list(frq,db,phi,['h';'h1']),.. + list([frq;frq],db,phi,['h';'h1'])); +warning('off'); +for p=plots + mprintf("-------- %s ---------------\n",p) + for args=Args + clf() + if execstr(p+'(args(:))','errcatch')<>0 then bugmes();quit;end + end +end +-------- bode --------------- +-------- black --------------- +-------- nyquist --------------- +-------- gainplot --------------- +warning('on'); diff --git a/modules/cacsd/tests/unit_tests/freqplots.tst b/modules/cacsd/tests/unit_tests/freqplots.tst new file mode 100755 index 000000000..41fc2bb5a --- /dev/null +++ b/modules/cacsd/tests/unit_tests/freqplots.tst @@ -0,0 +1,50 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) ????-2008 - INRIA Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// <-- TEST WITH GRAPHIC --> + +plots=['bode','black','nyquist','gainplot']; +s=poly(0,'s'); +h=syslin('c',(s^2+2*0.9*10*s+100)/(s^2+2*0.3*10.1*s+102.01)); +h1=h*syslin('c',(s^2+2*0.1*15.1*s+228.01)/(s^2+2*0.9*15*s+225)); +hd=dscr(h,0.01); +hd1=dscr(h1,0.01); +[frq,repf]=repfreq([h;h1],0.01,100); +[phi,db]=phasemag(repf); + +Args=list(.. + list(h),.. + list(h,0.01,100),.. + list(h,0.01,100,'h'),.. + list([h;h1]),.. + list([h;h1],0.01,100),.. + list([h;h1],0.01,100,['h';'h1']),.. + list(hd),.. + list(hd,0.01,100),.. + list(hd,0.01,100,'hd'),.. + list([hd;hd1]),.. + list([hd;hd1],0.01,100),.. + list([hd;hd1],0.01,100,['hd';'hd1']),.. + list(frq,repf(1,:)),.. + list(frq,repf(1,:),'h'),.. + list(frq,repf),.. + list(frq,repf,['h';'h1']),.. + list([frq;frq],repf,['h';'h1']),.. + list(frq,db(1,:),phi(1,:)),.. + list(frq,db(1,:),phi(1,:),'h'),.. + list(frq,db,phi),.. + list(frq,db,phi,['h';'h1']),.. + list([frq;frq],db,phi,['h';'h1'])); + +warning('off'); +for p=plots + mprintf("-------- %s ---------------\n",p) + for args=Args + clf() + if execstr(p+'(args(:))','errcatch')<>0 then pause,end + end +end +warning('on');
\ No newline at end of file diff --git a/modules/cacsd/tests/unit_tests/hinf.dia.ref b/modules/cacsd/tests/unit_tests/hinf.dia.ref new file mode 100755 index 000000000..b0f625a2e --- /dev/null +++ b/modules/cacsd/tests/unit_tests/hinf.dia.ref @@ -0,0 +1,47 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2012 - SE - Sylvestre Ledru +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +A=[-1 0 4 5 -3 -2 + -2 4 -7 -2 0 3 + -6 9 -5 0 2 -1 + -8 4 7 -1 -3 0 + 2 5 8 -9 1 -4 + 3 -5 8 0 2 -6]; +B=[-3 -4 -2 1 0 + 2 0 1 -5 2 + -5 -7 0 7 -2 + 4 -6 1 1 -2 + -3 9 -8 0 5 + 1 -2 3 -6 -2]; +C=[ 1 -1 2 -4 0 -3 + -3 0 5 -1 1 1 + -7 5 0 -8 2 -2 + 9 -3 4 0 3 7 + 0 1 -2 1 -6 -2]; +D=[ 1 -2 -3 0 0 + 0 4 0 1 0 + 5 -3 -4 0 1 + 0 1 0 1 -3 + 0 0 1 7 1]; +Gamma=10.18425636157899; +[AK,BK,CK,DK] = hinf(A,B,C,D,2,2,Gamma); +assert_checkalmostequal(DK,[0.0551858,0.1333855; -0.3195369,0.0333464], 1.e-6 ); +CK_Ref = [-1694955,9282226.3,7644816,3695418.1,4551537.9,3956434.1;-35560237,1.947D+08,1.604D+08,77530062,95491495,83006200]; +assert_checkalmostequal(CK,CK_Ref, 1.e-3 ); +AK_Ref = [-6.112D+08,3.347D+09,2.757D+09,1.333D+09,1.641D+09,1.427D+09; +-2.162D+08,1.184D+09,9.749D+08,4.713D+08,5.805D+08,5.046D+08; +-6.636D+08,3.634D+09,2.993D+09,1.447D+09,1.782D+09,1.549D+09; +-2.619D+08,1.434D+09,1.181D+09,5.711D+08,7.034D+08,6.114D+08; +-9.297D+08,5.092D+09,4.193D+09,2.027D+09,2.497D+09,2.170D+09; +2.313D+08,-1.267D+09,-1.043D+09,-5.043D+08,-6.211D+08,-5.399D+08]; +assert_checkalmostequal(AK,AK_Ref, 1.e-3 ); +BK_Ref=[-0.2224538,-0.1084738; +-0.8518108,-0.6521262; +0.8172727,0.5793501; +0.0843421,0.0100477; +-0.5631929,-0.2478528; +0.0067885,-0.7619229]; +assert_checkalmostequal(BK,BK_Ref, 1.e-5 ); diff --git a/modules/cacsd/tests/unit_tests/hinf.tst b/modules/cacsd/tests/unit_tests/hinf.tst new file mode 100755 index 000000000..af2d485de --- /dev/null +++ b/modules/cacsd/tests/unit_tests/hinf.tst @@ -0,0 +1,56 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2012 - SE - Sylvestre Ledru +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + + +A=[-1 0 4 5 -3 -2 + -2 4 -7 -2 0 3 + -6 9 -5 0 2 -1 + -8 4 7 -1 -3 0 + 2 5 8 -9 1 -4 + 3 -5 8 0 2 -6]; + +B=[-3 -4 -2 1 0 + 2 0 1 -5 2 + -5 -7 0 7 -2 + 4 -6 1 1 -2 + -3 9 -8 0 5 + 1 -2 3 -6 -2]; + +C=[ 1 -1 2 -4 0 -3 + -3 0 5 -1 1 1 + -7 5 0 -8 2 -2 + 9 -3 4 0 3 7 + 0 1 -2 1 -6 -2]; + +D=[ 1 -2 -3 0 0 + 0 4 0 1 0 + 5 -3 -4 0 1 + 0 1 0 1 -3 + 0 0 1 7 1]; +Gamma=10.18425636157899; +[AK,BK,CK,DK] = hinf(A,B,C,D,2,2,Gamma); + +assert_checkalmostequal(DK,[0.0551858,0.1333855; -0.3195369,0.0333464], 1.e-6 ); + +CK_Ref = [-1694955,9282226.3,7644816,3695418.1,4551537.9,3956434.1;-35560237,1.947D+08,1.604D+08,77530062,95491495,83006200]; +assert_checkalmostequal(CK,CK_Ref, 1.e-3 ); + +AK_Ref = [-6.112D+08,3.347D+09,2.757D+09,1.333D+09,1.641D+09,1.427D+09; +-2.162D+08,1.184D+09,9.749D+08,4.713D+08,5.805D+08,5.046D+08; +-6.636D+08,3.634D+09,2.993D+09,1.447D+09,1.782D+09,1.549D+09; +-2.619D+08,1.434D+09,1.181D+09,5.711D+08,7.034D+08,6.114D+08; +-9.297D+08,5.092D+09,4.193D+09,2.027D+09,2.497D+09,2.170D+09; +2.313D+08,-1.267D+09,-1.043D+09,-5.043D+08,-6.211D+08,-5.399D+08]; +assert_checkalmostequal(AK,AK_Ref, 1.e-3 ); + +BK_Ref=[-0.2224538,-0.1084738; +-0.8518108,-0.6521262; +0.8172727,0.5793501; +0.0843421,0.0100477; +-0.5631929,-0.2478528; +0.0067885,-0.7619229]; +assert_checkalmostequal(BK,BK_Ref, 1.e-5 ); diff --git a/modules/cacsd/tests/unit_tests/linmeq.dia.ref b/modules/cacsd/tests/unit_tests/linmeq.dia.ref new file mode 100755 index 000000000..08728dcc6 --- /dev/null +++ b/modules/cacsd/tests/unit_tests/linmeq.dia.ref @@ -0,0 +1,831 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) ????-2008 - INRIA +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// function linmeq +function A=testmat1(a,n) + //eigen values are given by a dilation of nth roots of 1 + A=diag(a*ones(1,n-1),1)+diag((1/a)*ones(1,n-1),-1) + A(1,n)=1/a; + A(n,1)=a; +endfunction +//----------------------------------------------------------- +//---------- op(A)*X + X*op(B) = C, (1a) -------------------- +//----------------------------------------------------------- +//Small dimension +n=4;m=3; +//A and B full +A = testmat1(2.5,n); +C = rand(n,m); +B = testmat1(0.3,m); +if execstr('X = linmeq(5,A,B,C)' ,'errcatch') == 0 then bugmes();quit;end +if execstr('X = linmeq(1,A,B)' ,'errcatch') == 0 then bugmes();quit;end +if execstr('X = linmeq(1,rand(3,3),B,C)' ,'errcatch') == 0 then bugmes();quit;end +if execstr('X = linmeq(1,rand(4,3),B,C)' ,'errcatch') == 0 then bugmes();quit;end +if execstr('X = linmeq(1,A,rand(3,2),C)' ,'errcatch') == 0 then bugmes();quit;end +if execstr('X = linmeq(1,A,B,rand(m,n))' ,'errcatch') == 0 then bugmes();quit;end +if execstr('X = linmeq(1,A,B,C,[0,0,0],8)' ,'errcatch') == 0 then bugmes();quit;end +if execstr('X = linmeq(1,A,B,C,[0,0,0],0,4)','errcatch') == 0 then bugmes();quit;end +flag=[0,0,0]; +X = linmeq(1,A,B,C); +if norm(A*X+X*B-C,1)>1000*%eps then bugmes();quit;end +X = linmeq(1,A,B,C,flag); +if norm(A*X+X*B-C,1)>1000*%eps then bugmes();quit;end +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option); +if norm(A*X+X*B-C,1)>1000*%eps then bugmes();quit;end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option); +if norm(A'*X+X*B'-C,1)>1000*%eps then bugmes();quit;end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option); +if norm(A'*X+X*B-C,1)>1000*%eps then bugmes();quit;end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option); +if norm(A*X+X*B'-C,1)>1000*%eps then bugmes();quit;end +Schur=1; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B-C,1)>1000*%eps then bugmes();quit;end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B'-C,1)>1000*%eps then bugmes();quit;end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B-C,1)>1000*%eps then bugmes();quit;end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B'-C,1)>1000*%eps then bugmes();quit;end +Schur=2; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B-C,1)>1000*%eps then bugmes();quit;end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B'-C,1)>1000*%eps then bugmes();quit;end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B-C,1)>1000*%eps then bugmes();quit;end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B'-C,1)>1000*%eps then bugmes();quit;end +//A in Schur form +[U,A]=schur(A);flag=[0,1,0]; +X = linmeq(1,A,B,C,flag); +if norm(A*X+X*B-C,1)>1000*%eps then bugmes();quit;end +Schur=1; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B-C,1)>1000*%eps then bugmes();quit;end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B'-C,1)>1000*%eps then bugmes();quit;end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B-C,1)>1000*%eps then bugmes();quit;end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B'-C,1)>1000*%eps then bugmes();quit;end +Schur=2; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B-C,1)>1000*%eps then bugmes();quit;end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B'-C,1)>1000*%eps then bugmes();quit;end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B-C,1)>1000*%eps then bugmes();quit;end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B'-C,1)>1000*%eps then bugmes();quit;end +//A and B in schur form +[U,B]=schur(B);flag=[0,1,1]; +X = linmeq(1,A,B,C,flag); +if norm(A*X+X*B-C,1)>1000*%eps then bugmes();quit;end +Schur=1; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B-C,1)>1000*%eps then bugmes();quit;end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B'-C,1)>1000*%eps then bugmes();quit;end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B-C,1)>1000*%eps then bugmes();quit;end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B'-C,1)>1000*%eps then bugmes();quit;end +Schur=2; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B-C,1)>1000*%eps then bugmes();quit;end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B'-C,1)>1000*%eps then bugmes();quit;end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B-C,1)>1000*%eps then bugmes();quit;end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B'-C,1)>1000*%eps then bugmes();quit;end +//B in schur form +A=testmat1(2.5,n);flag=[0,0,1]; +X = linmeq(1,A,B,C,flag); +if norm(A*X+X*B-C,1)>1000*%eps then bugmes();quit;end +Schur=1; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B-C,1)>1000*%eps then bugmes();quit;end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B'-C,1)>1000*%eps then bugmes();quit;end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B-C,1)>1000*%eps then bugmes();quit;end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B'-C,1)>1000*%eps then bugmes();quit;end +Schur=2; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B-C,1)>1000*%eps then bugmes();quit;end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B'-C,1)>1000*%eps then bugmes();quit;end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B-C,1)>1000*%eps then bugmes();quit;end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B'-C,1)>1000*%eps then bugmes();quit;end +//A in hess form +[U,A]=hess(A);flag=[0,2,0]; +X = linmeq(1,A,B,C,flag); +if norm(A*X+X*B-C,1)>1000*%eps then bugmes();quit;end +Schur=1; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B-C,1)>1000*%eps then bugmes();quit;end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B'-C,1)>1000*%eps then bugmes();quit;end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B-C,1)>1000*%eps then bugmes();quit;end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B'-C,1)>1000*%eps then bugmes();quit;end +Schur=2; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B-C,1)>1000*%eps then bugmes();quit;end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B'-C,1)>1000*%eps then bugmes();quit;end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B-C,1)>1000*%eps then bugmes();quit;end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B'-C,1)>1000*%eps then bugmes();quit;end +//A and B in hess form +[U,B]=hess(B);flag=[0,2,2]; +X = linmeq(1,A,B,C,flag); +if norm(A*X+X*B-C,1)>1000*%eps then bugmes();quit;end +Schur=1; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B-C,1)>1000*%eps then bugmes();quit;end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B'-C,1)>1000*%eps then bugmes();quit;end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B-C,1)>1000*%eps then bugmes();quit;end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B'-C,1)>1000*%eps then bugmes();quit;end +Schur=2; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B-C,1)>1000*%eps then bugmes();quit;end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B'-C,1)>1000*%eps then bugmes();quit;end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B-C,1)>1000*%eps then bugmes();quit;end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B'-C,1)>1000*%eps then bugmes();quit;end +//B in hess form +A=testmat1(2.5,n);flag=[0,0,2]; +X = linmeq(1,A,B,C,flag); +if norm(A*X+X*B-C,1)>1000*%eps then bugmes();quit;end +Schur=1; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B-C,1)>1000*%eps then bugmes();quit;end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B'-C,1)>1000*%eps then bugmes();quit;end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B-C,1)>1000*%eps then bugmes();quit;end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B'-C,1)>1000*%eps then bugmes();quit;end +Schur=2; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B-C,1)>1000*%eps then bugmes();quit;end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B'-C,1)>1000*%eps then bugmes();quit;end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B-C,1)>1000*%eps then bugmes();quit;end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B'-C,1)>1000*%eps then bugmes();quit;end +//Large dimension +n=23;m=17; +//A and B full +A=testmat1(2.5,n);C=rand(n,m);B=testmat1(0.3,m); +X = linmeq(1,A,B,C); +if norm(A*X+X*B-C,1)>100000*%eps then bugmes();quit;end +X = linmeq(1,A,B,C,flag); +if norm(A*X+X*B-C,1)>100000*%eps then bugmes();quit;end +//A in schur form +[U,A]=schur(A); +X = linmeq(1,A,B,C,[0,1,0]); +if norm(A*X+X*B-C,1)>100000*%eps then bugmes();quit;end +//A and B in schur form +[U,B]=schur(B); +X = linmeq(1,A,B,C,[0,1,1]); +if norm(A*X+X*B-C,1)>100000*%eps then bugmes();quit;end +//B in schur form +A=testmat1(2.5,n); +X = linmeq(1,A,B,C,[0,0,1]); +if norm(A*X+X*B-C,1)>100000*%eps then bugmes();quit;end +//A in hess form +[U,A]=hess(A); +X = linmeq(1,A,B,C,[0,2,0]); +if norm(A*X+X*B-C,1)>100000*%eps then bugmes();quit;end +//A and B in hess form +[U,B]=hess(B); +X = linmeq(1,A,B,C,[0,2,2]); +if norm(A*X+X*B-C,1)>100000*%eps then bugmes();quit;end +//B in hess form +A=testmat1(2.5,n); +X = linmeq(1,A,B,C,[0,0,2]); +if norm(A*X+X*B-C,1)>100000*%eps then bugmes();quit;end +//----------------------------------------------------------- +//---------- op(A)*X*op(B) + X = C, (1b) -------------------- +//----------------------------------------------------------- +//Small dimension +n=4; +m=3; +//A and B full +A = testmat1(2.5,n); +C = rand(n,m); +B = testmat1(0.3,m); +flag = [1,0,0]; +if execstr('X = linmeq(5,A,B,C,flag)' ,'errcatch') == 0 then bugmes();quit;end +if execstr('X = linmeq(1,rand(3,3),B,C,flag)','errcatch') == 0 then bugmes();quit;end +if execstr('X = linmeq(1,rand(4,3),B,C,flag)','errcatch') == 0 then bugmes();quit;end +if execstr('X = linmeq(1,A,rand(3,2),C,flag)','errcatch') == 0 then bugmes();quit;end +if execstr('X = linmeq(1,A,B,rand(m,n),flag)','errcatch') == 0 then bugmes();quit;end +if execstr('X = linmeq(1,A,B,C,flag,8)','errcatch') == 0 then bugmes();quit;end +if execstr('X = linmeq(1,A,B,C,flag,0,4)','errcatch') == 0 then bugmes();quit;end +X = linmeq(1,A,B,C,flag); +if norm(A*X*B+X-C,1)>1000*%eps then bugmes();quit;end +Schur=1; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B+X-C,1)>1000*%eps then bugmes();quit;end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B'+X-C,1)>1000*%eps then bugmes();quit;end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B+X-C,1)>1000*%eps then bugmes();quit;end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B'+X-C,1)>1000*%eps then bugmes();quit;end +Schur=2; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B+X-C,1)>1000*%eps then bugmes();quit;end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B'+X-C,1)>1000*%eps then bugmes();quit;end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B+X-C,1)>1000*%eps then bugmes();quit;end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B'+X-C,1)>1000*%eps then bugmes();quit;end +//A in schur form +[U,A]=schur(A); +flag=[1,1,0]; +X = linmeq(1,A,B,C,flag); +if norm(A*X*B+X-C,1)>1000*%eps then bugmes();quit;end +Schur=1; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B+X-C,1)>1000*%eps then bugmes();quit;end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B'+X-C,1)>1000*%eps then bugmes();quit;end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B+X-C,1)>1000*%eps then bugmes();quit;end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B'+X-C,1)>1000*%eps then bugmes();quit;end +Schur=2; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B+X-C,1)>1000*%eps then bugmes();quit;end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B'+X-C,1)>1000*%eps then bugmes();quit;end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B+X-C,1)>1000*%eps then bugmes();quit;end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B'+X-C,1)>1000*%eps then bugmes();quit;end +//A and B in schur form +[U,B]=schur(B); +flag=[1,1,1]; +X = linmeq(1,A,B,C,flag); +if norm(A*X*B+X-C,1)>1000*%eps then bugmes();quit;end +Schur=1; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B+X-C,1)>1000*%eps then bugmes();quit;end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B'+X-C,1)>1000*%eps then bugmes();quit;end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B+X-C,1)>1000*%eps then bugmes();quit;end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B'+X-C,1)>1000*%eps then bugmes();quit;end +Schur=2; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B+X-C,1)>1000*%eps then bugmes();quit;end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B'+X-C,1)>1000*%eps then bugmes();quit;end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B+X-C,1)>1000*%eps then bugmes();quit;end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B'+X-C,1)>1000*%eps then bugmes();quit;end +//B in schur form +A=testmat1(2.5,n); +flag=[1,0,1]; +X = linmeq(1,A,B,C,flag); +if norm(A*X*B+X-C,1)>1000*%eps then bugmes();quit;end +Schur=1; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B+X-C,1)>1000*%eps then bugmes();quit;end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B'+X-C,1)>1000*%eps then bugmes();quit;end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B+X-C,1)>1000*%eps then bugmes();quit;end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B'+X-C,1)>1000*%eps then bugmes();quit;end +Schur=2; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B+X-C,1)>1000*%eps then bugmes();quit;end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B'+X-C,1)>1000*%eps then bugmes();quit;end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B+X-C,1)>1000*%eps then bugmes();quit;end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B'+X-C,1)>1000*%eps then bugmes();quit;end +//A in hess form +[U,A]=hess(A); +flag=[1,2,0]; +X = linmeq(1,A,B,C,flag); +if norm(A*X*B+X-C,1)>1000*%eps then bugmes();quit;end +Schur=1; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B+X-C,1)>1000*%eps then bugmes();quit;end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B'+X-C,1)>1000*%eps then bugmes();quit;end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B+X-C,1)>1000*%eps then bugmes();quit;end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B'+X-C,1)>1000*%eps then bugmes();quit;end +Schur=2; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B+X-C,1)>1000*%eps then bugmes();quit;end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B'+X-C,1)>1000*%eps then bugmes();quit;end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B+X-C,1)>1000*%eps then bugmes();quit;end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B'+X-C,1)>1000*%eps then bugmes();quit;end +//A and B in hess form +[U,B]=hess(B); +flag=[1,2,2]; +X = linmeq(1,A,B,C,flag); +if norm(A*X*B+X-C,1)>1000*%eps then bugmes();quit;end +Schur=1; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B+X-C,1)>1000*%eps then bugmes();quit;end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B'+X-C,1)>1000*%eps then bugmes();quit;end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B+X-C,1)>1000*%eps then bugmes();quit;end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B'+X-C,1)>1000*%eps then bugmes();quit;end +Schur=2; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B+X-C,1)>1000*%eps then bugmes();quit;end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B'+X-C,1)>1000*%eps then bugmes();quit;end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B+X-C,1)>1000*%eps then bugmes();quit;end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B'+X-C,1)>1000*%eps then bugmes();quit;end +//B in hess form +A=testmat1(2.5,n); +flag=[1,0,2]; +X = linmeq(1,A,B,C,flag); +if norm(A*X*B+X-C,1)>1000*%eps then bugmes();quit;end +Schur=1; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B+X-C,1)>1000*%eps then bugmes();quit;end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B'+X-C,1)>1000*%eps then bugmes();quit;end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B+X-C,1)>1000*%eps then bugmes();quit;end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B'+X-C,1)>1000*%eps then bugmes();quit;end +Schur=2; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B+X-C,1)>1000*%eps then bugmes();quit;end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B'+X-C,1)>1000*%eps then bugmes();quit;end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B+X-C,1)>1000*%eps then bugmes();quit;end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B'+X-C,1)>1000*%eps then bugmes();quit;end +//Large dimension +n=23;m=17; +//A and B full +A=testmat1(2.5,n);C=rand(n,m);B=testmat1(0.3,m); +flag=[1,0,0]; +X = linmeq(1,A,B,C,flag); +if norm(A*X*B+X-C,1)>100000*%eps then bugmes();quit;end +//A in schur form +[U,A]=schur(A); +flag=[1,1,0]; +X = linmeq(1,A,B,C,flag); +if norm(A*X*B+X-C,1)>100000*%eps then bugmes();quit;end +//A and B in schur form +[U,B]=schur(B); +flag=[1,1,1]; +X = linmeq(1,A,B,C,flag); +if norm(A*X*B+X-C,1)>100000*%eps then bugmes();quit;end +//B in schur form +A=testmat1(2.5,n); +flag=[1,0,1]; +X = linmeq(1,A,B,C,flag); +if norm(A*X*B+X-C,1)>100000*%eps then bugmes();quit;end +//A in hess form +[U,A]=hess(A); +flag=[1,2,0]; +X = linmeq(1,A,B,C,flag); +if norm(A*X*B+X-C,1)>100000*%eps then bugmes();quit;end +//A and B in hess form +[U,B]=hess(B); +flag=[1,2,2]; +X = linmeq(1,A,B,C,flag); +if norm(A*X*B+X-C,1)>100000*%eps then bugmes();quit;end +//B in hess form +A=testmat1(2.5,n); +flag=[1,0,2]; +X = linmeq(1,A,B,C,flag); +if norm(A*X*B+X-C,1)>100000*%eps then bugmes();quit;end +//----------------------------------------------------------- +//---------- op(A)'*X + X*op(A) = C, (2a)-------------------- +//----------------------------------------------------------- +//Small dimension +n = 4; +//A full +A = testmat1(2.5,n); +C = rand(n,n); +C = C+C'; +if execstr('X = linmeq(2,A,C)' ,'errcatch') == 0 then bugmes();quit;end +if execstr('X = linmeq(2,A,C,flag)' ,'errcatch') == 0 then bugmes();quit;end +if execstr('X = linmeq(2,rand(3,3),C,flag)' ,'errcatch') == 0 then bugmes();quit;end +if execstr('X = linmeq(2,rand(4,3),C,flag)' ,'errcatch') == 0 then bugmes();quit;end +if execstr('X = linmeq(2,A,C,flag)' ,'errcatch') == 0 then bugmes();quit;end +if execstr('X = linmeq(2,A,rand(4,3),flag)' ,'errcatch') == 0 then bugmes();quit;end +if execstr('X = linmeq(2,A,rand(3,3),flag)' ,'errcatch') == 0 then bugmes();quit;end +if execstr('X = linmeq(2,A,C,flag,8)' ,'errcatch') == 0 then bugmes();quit;end +if execstr('X = linmeq(2,A,C,flag,0,4)' ,'errcatch') == 0 then bugmes();quit;end +function A=testmat2(a,n) + A=testmat1(a,n)+eye()+diag([1 1],n-2); +endfunction +A=testmat2(2.5,n); +X = linmeq(2,A,C); +if norm(A'*X+X*A-C,1)>1000*%eps then bugmes();quit;end +flag=[0,0]; +X = linmeq(2,A,C,flag); +if norm(A'*X+X*A-C,1)>1000*%eps then bugmes();quit;end +trans_option=0; +X = linmeq(2,A,C,flag,trans_option); +if norm(A'*X+X*A-C,1)>1000*%eps then bugmes();quit;end +trans_option=1; +X = linmeq(2,A,C,flag,trans_option); +if norm(A*X+X*A'-C,1)>1000*%eps then bugmes();quit;end +//A in schur form +[U,A]=schur(A); +flag=[0,1]; +X = linmeq(2,A,C,flag); +if norm(A'*X+X*A-C,1)>1000*%eps then bugmes();quit;end +trans_option=0; +X = linmeq(2,A,C,flag,trans_option); +if norm(A'*X+X*A-C,1)>1000*%eps then bugmes();quit;end +trans_option=1; +X = linmeq(2,A,C,flag,trans_option); +if norm(A*X+X*A'-C,1)>1000*%eps then bugmes();quit;end +//A in hess form +A=testmat2(2.5,n);[U,A]=hess(A); +flag=[0,2]; +X = linmeq(2,A,C,flag); +if norm(A'*X+X*A-C,1)>1000*%eps then bugmes();quit;end +trans_option=0; +X = linmeq(2,A,C,flag,trans_option); +if norm(A'*X+X*A-C,1)>1000*%eps then bugmes();quit;end +trans_option=1; +X = linmeq(2,A,C,flag,trans_option); +if norm(A*X+X*A'-C,1)>1000*%eps then bugmes();quit;end +//Large dimension +n=23; +//A full +A=testmat2(2.5,n);C=rand(n,n);C=C+C'; +X = linmeq(2,A,C); +if norm(A'*X+X*A-C,1)>100000*%eps then bugmes();quit;end +flag=[0,0]; +X = linmeq(2,A,C,flag); +if norm(A'*X+X*A-C,1)>100000*%eps then bugmes();quit;end +//A in schur form +[U,A]=schur(A); +flag=[0,1]; +X = linmeq(2,A,C,flag); +if norm(A'*X+X*A-C,1)>100000*%eps then bugmes();quit;end +//A in hess form +A=testmat2(2.5,n);[U,A]=hess(A); +flag=[0,2]; +X = linmeq(2,A,C,flag); +if norm(A'*X+X*A-C,1)>100000*%eps then bugmes();quit;end +//----------------------------------------------------------- +//---------- op(A)'*X*op(A) - X = C, (2b)-------------------- +//----------------------------------------------------------- +//Small dimension +n=4; +//A full +A=testmat1(2.5,n); +C=rand(n,n); +C=C+C'; +flag=[1,0]; +X = linmeq(2,A,C,flag); +if norm(A'*X*A-X-C,1)>1000*%eps then bugmes();quit;end +trans_option=0; +X = linmeq(2,A,C,flag,trans_option); +if norm(A'*X*A-X-C,1)>1000*%eps then bugmes();quit;end +trans_option=1; +X = linmeq(2,A,C,flag,trans_option); +if norm(A*X*A'-X-C,1)>1000*%eps then bugmes();quit;end +//A in schur form +[U,A]=schur(A); +flag=[1,1]; +X = linmeq(2,A,C,flag); +if norm(A'*X*A-X-C,1)>1000*%eps then bugmes();quit;end +trans_option=0; +X = linmeq(2,A,C,flag,trans_option); +if norm(A'*X*A-X-C,1)>1000*%eps then bugmes();quit;end +trans_option=1; +X = linmeq(2,A,C,flag,trans_option); +if norm(A*X*A'-X-C,1)>1000*%eps then bugmes();quit;end +//A in hess form +A=testmat1(2.5,n);[U,A]=hess(A); +flag=[1,2]; +X = linmeq(2,A,C,flag); +if norm(A'*X*A-X-C,1)>1000*%eps then bugmes();quit;end +trans_option=0; +X = linmeq(2,A,C,flag,trans_option); +if norm(A'*X*A-X-C,1)>1000*%eps then bugmes();quit;end +trans_option=1; +X = linmeq(2,A,C,flag,trans_option); +if norm(A*X*A'-X-C,1)>1000*%eps then bugmes();quit;end +//Large dimension +n=23; +//A full +A=testmat1(2.5,n);C=rand(n,n);C=C+C'; +flag=[1,0]; +X = linmeq(2,A,C,flag); +if norm(A'*X*A-X-C,1)>100000*%eps then bugmes();quit;end +//A in schur form +[U,A]=schur(A); +flag=[1,1]; +X = linmeq(2,A,C,flag); +if norm(A'*X*A-X-C,1)>100000*%eps then bugmes();quit;end +//A in hess form +A=testmat1(2.5,n);[U,A]=hess(A); +flag=[1,2]; +X = linmeq(2,A,C,flag); +if norm(A'*X*A-X-C,1)>100000*%eps then bugmes();quit;end +//----------------------------------------------------------- +//--- op(A)'*(op(X)'*op(X)) + (op(X)'*op(X))*op(A) = -- +//--- - op(C)'*op(C), (3a) -- +//----------------------------------------------------------- +//Small dimension +n=4; +//A full +C = rand(n,n); +A = testmat1(2.5,n); +flag = [0,0]; +if execstr('X = linmeq(3,A,C,flag)' ,'errcatch')==0 then bugmes();quit;end +if execstr('X = linmeq(3,rand(3,3),C,flag)' ,'errcatch')==0 then bugmes();quit;end +if execstr('X = linmeq(3,rand(4,3),C,flag)' ,'errcatch')==0 then bugmes();quit;end +if execstr('X = linmeq(3,A,C,flag)' ,'errcatch')==0 then bugmes();quit;end +if execstr('X = linmeq(3,A,rand(4,3),flag)' ,'errcatch')==0 then bugmes();quit;end +if execstr('X = linmeq(3,A,rand(3,3),flag)' ,'errcatch')==0 then bugmes();quit;end +if execstr('X = linmeq(3,A,C,flag,8)' ,'errcatch')==0 then bugmes();quit;end +if execstr('X = linmeq(3,A,C,flag,0,4)' ,'errcatch')==0 then bugmes();quit;end +if execstr('X = linmeq(3,A,C)' ,'errcatch')==0 then bugmes();quit;end +//shift poles to make all of them negative +function A=testmat3(a,n),A=testmat1(a,n)-(2+a^2)/a*eye(),endfunction +A=testmat3(2.5,n); +X = linmeq(3,A,C); +if norm(A'*(X'*X)+(X'*X)*A+C'*C,1)>1000*%eps then bugmes();quit;end +flag=[0,0]; +X = linmeq(3,A,C,flag); +if norm(A'*(X'*X)+(X'*X)*A+C'*C,1)>1000*%eps then bugmes();quit;end +trans_option=0; +X = linmeq(3,A,C,flag,trans_option); +if norm(A'*(X'*X)+(X'*X)*A+C'*C,1)>1000*%eps then bugmes();quit;end +trans_option=1; +X = linmeq(3,A,C,flag,trans_option); +if norm(A*(X*X')+(X*X')*A'+C*C',1)>1000*%eps then bugmes();quit;end +//A in schur form +[U,A]=schur(A); +flag=[0,1]; +X = linmeq(3,A,C,flag); +if norm(A'*(X'*X)+(X'*X)*A+C'*C,1)>1000*%eps then bugmes();quit;end +trans_option=0; +X = linmeq(3,A,C,flag,trans_option); +if norm(A'*(X'*X)+(X'*X)*A+C'*C,1)>1000*%eps then bugmes();quit;end +trans_option=1; +X = linmeq(3,A,C,flag,trans_option); +if norm(A*(X*X')+(X*X')*A'+C*C',1)>1000*%eps then bugmes();quit;end +//A in hess form +A=testmat3(2.5,n);[U,A]=hess(A); +flag=[0,2]; +X = linmeq(3,A,C,flag); +if norm(A'*(X'*X)+(X'*X)*A+C'*C,1)>1000*%eps then bugmes();quit;end +trans_option=0; +X = linmeq(3,A,C,flag,trans_option); +if norm(A'*(X'*X)+(X'*X)*A+C'*C,1)>1000*%eps then bugmes();quit;end +trans_option=1; +X = linmeq(3,A,C,flag,trans_option); +if norm(A*(X*X')+(X*X')*A'+C*C',1)>1000*%eps then bugmes();quit;end +//Large dimension +n=23; +//A full +A=testmat3(2.5,n);C=rand(n,n); +X = linmeq(3,A,C); +if norm(A'*(X'*X)+(X'*X)*A+C'*C,1)>100000*%eps then bugmes();quit;end +flag=[0,0]; +X = linmeq(3,A,C,flag); +if norm(A'*(X'*X)+(X'*X)*A+C'*C,1)>100000*%eps then bugmes();quit;end +//A in schur form +[U,A]=schur(A); +flag=[0,1]; +X = linmeq(3,A,C,flag); +if norm(A'*(X'*X)+(X'*X)*A+C'*C,1)>100000*%eps then bugmes();quit;end +//A in hess form +A=testmat3(2.5,n);[U,A]=hess(A); +flag=[0,2]; +X = linmeq(3,A,C,flag); +if norm(A'*(X'*X)+(X'*X)*A+C'*C,1)>100000*%eps then bugmes();quit;end +//----------------------------------------------------------- +//--- op(A)'*(op(X)'*op(X))*op(A) - op(X)'*op(X) = -- +//--- - op(C)'*op(C), (3a) -- +//----------------------------------------------------------- +//Small dimension +n = 4; +//A full +C = rand(n,n); +A = testmat1(2.5,n); +flag = [1,0]; +if execstr('X = linmeq(3,A,C,flag)' ,'errcatch')==0 then bugmes();quit;end +if execstr('X = linmeq(3,rand(3,3),C,flag)' ,'errcatch')==0 then bugmes();quit;end +if execstr('X = linmeq(3,rand(4,3),C,flag)' ,'errcatch')==0 then bugmes();quit;end +if execstr('X = linmeq(3,A,C,flag)' ,'errcatch')==0 then bugmes();quit;end +if execstr('X = linmeq(3,A,rand(4,3),flag)' ,'errcatch')==0 then bugmes();quit;end +if execstr('X = linmeq(3,A,rand(3,3),flag)' ,'errcatch')==0 then bugmes();quit;end +if execstr('X = linmeq(3,A,C,flag,8)' ,'errcatch')==0 then bugmes();quit;end +if execstr('X = linmeq(3,A,C,flag,0,4)' ,'errcatch')==0 then bugmes();quit;end +//shift poles to make all of them negative +function A=testmat4(a,n),A=testmat1(a,n)/((2+a^2)/a),endfunction +A=testmat4(2.5,n); +flag=[1,0]; +X = linmeq(3,A,C,flag); +if norm(A'*(X'*X)*A-X'*X+C'*C,1)>1000*%eps then bugmes();quit;end +trans_option=0; +X = linmeq(3,A,C,flag,trans_option); +if norm(A'*(X'*X)*A-X'*X+C'*C,1)>1000*%eps then bugmes();quit;end +trans_option=1; +X = linmeq(3,A,C,flag,trans_option); +if norm(A*(X*X')*A'-X*X'+C*C',1)>1000*%eps then bugmes();quit;end +//A in schur form +[U,A]=schur(A); +flag=[1,1]; +X = linmeq(3,A,C,flag); +if norm(A'*(X'*X)*A-X'*X+C'*C,1)>1000*%eps then bugmes();quit;end +trans_option=0; +X = linmeq(3,A,C,flag,trans_option); +if norm(A'*(X'*X)*A-X'*X+C'*C,1)>1000*%eps then bugmes();quit;end +trans_option=1; +X = linmeq(3,A,C,flag,trans_option); +if norm(A*(X*X')*A'-X*X'+C*C',1)>1000*%eps then bugmes();quit;end +//A in hess form +A=testmat4(2.5,n);[U,A]=hess(A); +flag=[1,2]; +X = linmeq(3,A,C,flag); +if norm(A'*(X'*X)*A-X'*X+C'*C,1)>1000*%eps then bugmes();quit;end +trans_option=0; +X = linmeq(3,A,C,flag,trans_option); +if norm(A'*(X'*X)*A-X'*X+C'*C,1)>1000*%eps then bugmes();quit;end +trans_option=1; +X = linmeq(3,A,C,flag,trans_option); +if norm(A*(X*X')*A'-X*X'+C*C',1)>1000*%eps then bugmes();quit;end +//Large dimension +n=23; +//A full +A=testmat4(2.5,n);C=rand(n,n); +flag=[1,0]; +X = linmeq(3,A,C,flag); +if norm(A'*(X'*X)*A-X'*X+C'*C,1)>100000*%eps then bugmes();quit;end +flag=[1,0]; +X = linmeq(3,A,C,flag); +if norm(A'*(X'*X)*A-X'*X+C'*C,1)>100000*%eps then bugmes();quit;end +//A in schur form +[U,A]=schur(A); +flag=[1,1]; +X = linmeq(3,A,C,flag); +if norm(A'*(X'*X)*A-X'*X+C'*C,1)>100000*%eps then bugmes();quit;end +//A in hess form +A=testmat4(2.5,n);[U,A]=hess(A); +flag=[1,2]; +X = linmeq(3,A,C,flag); +if norm(A'*(X'*X)*A-X'*X+C'*C,1)>100000*%eps then bugmes();quit;end diff --git a/modules/cacsd/tests/unit_tests/linmeq.tst b/modules/cacsd/tests/unit_tests/linmeq.tst new file mode 100755 index 000000000..4aab90a5b --- /dev/null +++ b/modules/cacsd/tests/unit_tests/linmeq.tst @@ -0,0 +1,914 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) ????-2008 - INRIA +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +// function linmeq + +function A=testmat1(a,n) + //eigen values are given by a dilation of nth roots of 1 + A=diag(a*ones(1,n-1),1)+diag((1/a)*ones(1,n-1),-1) + A(1,n)=1/a; + A(n,1)=a; +endfunction + +//----------------------------------------------------------- +//---------- op(A)*X + X*op(B) = C, (1a) -------------------- +//----------------------------------------------------------- + +//Small dimension +n=4;m=3; +//A and B full +A = testmat1(2.5,n); +C = rand(n,m); +B = testmat1(0.3,m); + +if execstr('X = linmeq(5,A,B,C)' ,'errcatch') == 0 then pause,end +if execstr('X = linmeq(1,A,B)' ,'errcatch') == 0 then pause,end +if execstr('X = linmeq(1,rand(3,3),B,C)' ,'errcatch') == 0 then pause,end +if execstr('X = linmeq(1,rand(4,3),B,C)' ,'errcatch') == 0 then pause,end +if execstr('X = linmeq(1,A,rand(3,2),C)' ,'errcatch') == 0 then pause,end +if execstr('X = linmeq(1,A,B,rand(m,n))' ,'errcatch') == 0 then pause,end +if execstr('X = linmeq(1,A,B,C,[0,0,0],8)' ,'errcatch') == 0 then pause,end +if execstr('X = linmeq(1,A,B,C,[0,0,0],0,4)','errcatch') == 0 then pause,end + +flag=[0,0,0]; +X = linmeq(1,A,B,C); +if norm(A*X+X*B-C,1)>1000*%eps then pause,end +X = linmeq(1,A,B,C,flag); +if norm(A*X+X*B-C,1)>1000*%eps then pause,end + +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option); +if norm(A*X+X*B-C,1)>1000*%eps then pause,end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option); +if norm(A'*X+X*B'-C,1)>1000*%eps then pause,end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option); +if norm(A'*X+X*B-C,1)>1000*%eps then pause,end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option); +if norm(A*X+X*B'-C,1)>1000*%eps then pause,end + +Schur=1; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B-C,1)>1000*%eps then pause,end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B'-C,1)>1000*%eps then pause,end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B-C,1)>1000*%eps then pause,end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B'-C,1)>1000*%eps then pause,end +Schur=2; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B-C,1)>1000*%eps then pause,end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B'-C,1)>1000*%eps then pause,end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B-C,1)>1000*%eps then pause,end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B'-C,1)>1000*%eps then pause,end + +//A in Schur form +[U,A]=schur(A);flag=[0,1,0]; +X = linmeq(1,A,B,C,flag); +if norm(A*X+X*B-C,1)>1000*%eps then pause,end + +Schur=1; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B-C,1)>1000*%eps then pause,end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B'-C,1)>1000*%eps then pause,end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B-C,1)>1000*%eps then pause,end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B'-C,1)>1000*%eps then pause,end +Schur=2; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B-C,1)>1000*%eps then pause,end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B'-C,1)>1000*%eps then pause,end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B-C,1)>1000*%eps then pause,end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B'-C,1)>1000*%eps then pause,end + + +//A and B in schur form +[U,B]=schur(B);flag=[0,1,1]; +X = linmeq(1,A,B,C,flag); +if norm(A*X+X*B-C,1)>1000*%eps then pause,end + +Schur=1; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B-C,1)>1000*%eps then pause,end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B'-C,1)>1000*%eps then pause,end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B-C,1)>1000*%eps then pause,end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B'-C,1)>1000*%eps then pause,end +Schur=2; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B-C,1)>1000*%eps then pause,end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B'-C,1)>1000*%eps then pause,end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B-C,1)>1000*%eps then pause,end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B'-C,1)>1000*%eps then pause,end + +//B in schur form +A=testmat1(2.5,n);flag=[0,0,1]; +X = linmeq(1,A,B,C,flag); +if norm(A*X+X*B-C,1)>1000*%eps then pause,end +Schur=1; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B-C,1)>1000*%eps then pause,end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B'-C,1)>1000*%eps then pause,end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B-C,1)>1000*%eps then pause,end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B'-C,1)>1000*%eps then pause,end +Schur=2; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B-C,1)>1000*%eps then pause,end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B'-C,1)>1000*%eps then pause,end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B-C,1)>1000*%eps then pause,end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B'-C,1)>1000*%eps then pause,end + + +//A in hess form +[U,A]=hess(A);flag=[0,2,0]; +X = linmeq(1,A,B,C,flag); +if norm(A*X+X*B-C,1)>1000*%eps then pause,end + +Schur=1; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B-C,1)>1000*%eps then pause,end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B'-C,1)>1000*%eps then pause,end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B-C,1)>1000*%eps then pause,end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B'-C,1)>1000*%eps then pause,end +Schur=2; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B-C,1)>1000*%eps then pause,end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B'-C,1)>1000*%eps then pause,end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B-C,1)>1000*%eps then pause,end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B'-C,1)>1000*%eps then pause,end + +//A and B in hess form +[U,B]=hess(B);flag=[0,2,2]; +X = linmeq(1,A,B,C,flag); +if norm(A*X+X*B-C,1)>1000*%eps then pause,end +Schur=1; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B-C,1)>1000*%eps then pause,end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B'-C,1)>1000*%eps then pause,end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B-C,1)>1000*%eps then pause,end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B'-C,1)>1000*%eps then pause,end +Schur=2; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B-C,1)>1000*%eps then pause,end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B'-C,1)>1000*%eps then pause,end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B-C,1)>1000*%eps then pause,end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B'-C,1)>1000*%eps then pause,end + + +//B in hess form +A=testmat1(2.5,n);flag=[0,0,2]; +X = linmeq(1,A,B,C,flag); +if norm(A*X+X*B-C,1)>1000*%eps then pause,end +Schur=1; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B-C,1)>1000*%eps then pause,end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B'-C,1)>1000*%eps then pause,end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B-C,1)>1000*%eps then pause,end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B'-C,1)>1000*%eps then pause,end +Schur=2; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B-C,1)>1000*%eps then pause,end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B'-C,1)>1000*%eps then pause,end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X+X*B-C,1)>1000*%eps then pause,end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X+X*B'-C,1)>1000*%eps then pause,end + + +//Large dimension +n=23;m=17; +//A and B full +A=testmat1(2.5,n);C=rand(n,m);B=testmat1(0.3,m); +X = linmeq(1,A,B,C); +if norm(A*X+X*B-C,1)>100000*%eps then pause,end +X = linmeq(1,A,B,C,flag); +if norm(A*X+X*B-C,1)>100000*%eps then pause,end + +//A in schur form +[U,A]=schur(A); +X = linmeq(1,A,B,C,[0,1,0]); +if norm(A*X+X*B-C,1)>100000*%eps then pause,end +//A and B in schur form +[U,B]=schur(B); +X = linmeq(1,A,B,C,[0,1,1]); +if norm(A*X+X*B-C,1)>100000*%eps then pause,end +//B in schur form +A=testmat1(2.5,n); +X = linmeq(1,A,B,C,[0,0,1]); +if norm(A*X+X*B-C,1)>100000*%eps then pause,end + +//A in hess form +[U,A]=hess(A); +X = linmeq(1,A,B,C,[0,2,0]); +if norm(A*X+X*B-C,1)>100000*%eps then pause,end +//A and B in hess form +[U,B]=hess(B); +X = linmeq(1,A,B,C,[0,2,2]); +if norm(A*X+X*B-C,1)>100000*%eps then pause,end +//B in hess form +A=testmat1(2.5,n); +X = linmeq(1,A,B,C,[0,0,2]); +if norm(A*X+X*B-C,1)>100000*%eps then pause,end + + +//----------------------------------------------------------- +//---------- op(A)*X*op(B) + X = C, (1b) -------------------- +//----------------------------------------------------------- + +//Small dimension +n=4; +m=3; + +//A and B full +A = testmat1(2.5,n); +C = rand(n,m); +B = testmat1(0.3,m); +flag = [1,0,0]; + +if execstr('X = linmeq(5,A,B,C,flag)' ,'errcatch') == 0 then pause,end +if execstr('X = linmeq(1,rand(3,3),B,C,flag)','errcatch') == 0 then pause,end +if execstr('X = linmeq(1,rand(4,3),B,C,flag)','errcatch') == 0 then pause,end +if execstr('X = linmeq(1,A,rand(3,2),C,flag)','errcatch') == 0 then pause,end +if execstr('X = linmeq(1,A,B,rand(m,n),flag)','errcatch') == 0 then pause,end +if execstr('X = linmeq(1,A,B,C,flag,8)','errcatch') == 0 then pause,end +if execstr('X = linmeq(1,A,B,C,flag,0,4)','errcatch') == 0 then pause,end + +X = linmeq(1,A,B,C,flag); +if norm(A*X*B+X-C,1)>1000*%eps then pause,end + +Schur=1; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B+X-C,1)>1000*%eps then pause,end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B'+X-C,1)>1000*%eps then pause,end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B+X-C,1)>1000*%eps then pause,end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B'+X-C,1)>1000*%eps then pause,end +Schur=2; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B+X-C,1)>1000*%eps then pause,end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B'+X-C,1)>1000*%eps then pause,end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B+X-C,1)>1000*%eps then pause,end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B'+X-C,1)>1000*%eps then pause,end + + +//A in schur form +[U,A]=schur(A); +flag=[1,1,0]; +X = linmeq(1,A,B,C,flag); +if norm(A*X*B+X-C,1)>1000*%eps then pause,end +Schur=1; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B+X-C,1)>1000*%eps then pause,end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B'+X-C,1)>1000*%eps then pause,end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B+X-C,1)>1000*%eps then pause,end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B'+X-C,1)>1000*%eps then pause,end +Schur=2; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B+X-C,1)>1000*%eps then pause,end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B'+X-C,1)>1000*%eps then pause,end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B+X-C,1)>1000*%eps then pause,end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B'+X-C,1)>1000*%eps then pause,end + +//A and B in schur form +[U,B]=schur(B); +flag=[1,1,1]; +X = linmeq(1,A,B,C,flag); +if norm(A*X*B+X-C,1)>1000*%eps then pause,end +Schur=1; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B+X-C,1)>1000*%eps then pause,end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B'+X-C,1)>1000*%eps then pause,end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B+X-C,1)>1000*%eps then pause,end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B'+X-C,1)>1000*%eps then pause,end +Schur=2; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B+X-C,1)>1000*%eps then pause,end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B'+X-C,1)>1000*%eps then pause,end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B+X-C,1)>1000*%eps then pause,end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B'+X-C,1)>1000*%eps then pause,end + +//B in schur form +A=testmat1(2.5,n); +flag=[1,0,1]; +X = linmeq(1,A,B,C,flag); +if norm(A*X*B+X-C,1)>1000*%eps then pause,end +Schur=1; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B+X-C,1)>1000*%eps then pause,end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B'+X-C,1)>1000*%eps then pause,end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B+X-C,1)>1000*%eps then pause,end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B'+X-C,1)>1000*%eps then pause,end +Schur=2; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B+X-C,1)>1000*%eps then pause,end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B'+X-C,1)>1000*%eps then pause,end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B+X-C,1)>1000*%eps then pause,end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B'+X-C,1)>1000*%eps then pause,end + +//A in hess form +[U,A]=hess(A); +flag=[1,2,0]; +X = linmeq(1,A,B,C,flag); +if norm(A*X*B+X-C,1)>1000*%eps then pause,end +Schur=1; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B+X-C,1)>1000*%eps then pause,end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B'+X-C,1)>1000*%eps then pause,end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B+X-C,1)>1000*%eps then pause,end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B'+X-C,1)>1000*%eps then pause,end +Schur=2; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B+X-C,1)>1000*%eps then pause,end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B'+X-C,1)>1000*%eps then pause,end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B+X-C,1)>1000*%eps then pause,end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B'+X-C,1)>1000*%eps then pause,end + +//A and B in hess form +[U,B]=hess(B); +flag=[1,2,2]; +X = linmeq(1,A,B,C,flag); +if norm(A*X*B+X-C,1)>1000*%eps then pause,end +Schur=1; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B+X-C,1)>1000*%eps then pause,end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B'+X-C,1)>1000*%eps then pause,end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B+X-C,1)>1000*%eps then pause,end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B'+X-C,1)>1000*%eps then pause,end +Schur=2; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B+X-C,1)>1000*%eps then pause,end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B'+X-C,1)>1000*%eps then pause,end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B+X-C,1)>1000*%eps then pause,end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B'+X-C,1)>1000*%eps then pause,end + +//B in hess form +A=testmat1(2.5,n); +flag=[1,0,2]; +X = linmeq(1,A,B,C,flag); +if norm(A*X*B+X-C,1)>1000*%eps then pause,end +Schur=1; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B+X-C,1)>1000*%eps then pause,end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B'+X-C,1)>1000*%eps then pause,end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B+X-C,1)>1000*%eps then pause,end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B'+X-C,1)>1000*%eps then pause,end +Schur=2; +trans_option=0; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B+X-C,1)>1000*%eps then pause,end +trans_option=1; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B'+X-C,1)>1000*%eps then pause,end +trans_option=2; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A'*X*B+X-C,1)>1000*%eps then pause,end +trans_option=3; +X = linmeq(1,A,B,C,flag,trans_option,Schur); +if norm(A*X*B'+X-C,1)>1000*%eps then pause,end + +//Large dimension +n=23;m=17; +//A and B full +A=testmat1(2.5,n);C=rand(n,m);B=testmat1(0.3,m); +flag=[1,0,0]; +X = linmeq(1,A,B,C,flag); +if norm(A*X*B+X-C,1)>100000*%eps then pause,end + +//A in schur form +[U,A]=schur(A); +flag=[1,1,0]; +X = linmeq(1,A,B,C,flag); +if norm(A*X*B+X-C,1)>100000*%eps then pause,end +//A and B in schur form +[U,B]=schur(B); +flag=[1,1,1]; +X = linmeq(1,A,B,C,flag); +if norm(A*X*B+X-C,1)>100000*%eps then pause,end +//B in schur form +A=testmat1(2.5,n); +flag=[1,0,1]; +X = linmeq(1,A,B,C,flag); +if norm(A*X*B+X-C,1)>100000*%eps then pause,end + +//A in hess form +[U,A]=hess(A); +flag=[1,2,0]; +X = linmeq(1,A,B,C,flag); +if norm(A*X*B+X-C,1)>100000*%eps then pause,end +//A and B in hess form +[U,B]=hess(B); +flag=[1,2,2]; +X = linmeq(1,A,B,C,flag); +if norm(A*X*B+X-C,1)>100000*%eps then pause,end +//B in hess form +A=testmat1(2.5,n); +flag=[1,0,2]; +X = linmeq(1,A,B,C,flag); +if norm(A*X*B+X-C,1)>100000*%eps then pause,end +//----------------------------------------------------------- +//---------- op(A)'*X + X*op(A) = C, (2a)-------------------- +//----------------------------------------------------------- +//Small dimension +n = 4; + +//A full +A = testmat1(2.5,n); +C = rand(n,n); +C = C+C'; + +if execstr('X = linmeq(2,A,C)' ,'errcatch') == 0 then pause,end +if execstr('X = linmeq(2,A,C,flag)' ,'errcatch') == 0 then pause,end +if execstr('X = linmeq(2,rand(3,3),C,flag)' ,'errcatch') == 0 then pause,end +if execstr('X = linmeq(2,rand(4,3),C,flag)' ,'errcatch') == 0 then pause,end +if execstr('X = linmeq(2,A,C,flag)' ,'errcatch') == 0 then pause,end +if execstr('X = linmeq(2,A,rand(4,3),flag)' ,'errcatch') == 0 then pause,end +if execstr('X = linmeq(2,A,rand(3,3),flag)' ,'errcatch') == 0 then pause,end +if execstr('X = linmeq(2,A,C,flag,8)' ,'errcatch') == 0 then pause,end +if execstr('X = linmeq(2,A,C,flag,0,4)' ,'errcatch') == 0 then pause,end + +function A=testmat2(a,n) + A=testmat1(a,n)+eye()+diag([1 1],n-2); +endfunction + +A=testmat2(2.5,n); +X = linmeq(2,A,C); +if norm(A'*X+X*A-C,1)>1000*%eps then pause,end +flag=[0,0]; +X = linmeq(2,A,C,flag); +if norm(A'*X+X*A-C,1)>1000*%eps then pause,end + +trans_option=0; +X = linmeq(2,A,C,flag,trans_option); +if norm(A'*X+X*A-C,1)>1000*%eps then pause,end +trans_option=1; +X = linmeq(2,A,C,flag,trans_option); +if norm(A*X+X*A'-C,1)>1000*%eps then pause,end + +//A in schur form +[U,A]=schur(A); +flag=[0,1]; +X = linmeq(2,A,C,flag); +if norm(A'*X+X*A-C,1)>1000*%eps then pause,end + +trans_option=0; +X = linmeq(2,A,C,flag,trans_option); +if norm(A'*X+X*A-C,1)>1000*%eps then pause,end +trans_option=1; +X = linmeq(2,A,C,flag,trans_option); +if norm(A*X+X*A'-C,1)>1000*%eps then pause,end + + +//A in hess form +A=testmat2(2.5,n);[U,A]=hess(A); +flag=[0,2]; +X = linmeq(2,A,C,flag); +if norm(A'*X+X*A-C,1)>1000*%eps then pause,end + +trans_option=0; +X = linmeq(2,A,C,flag,trans_option); +if norm(A'*X+X*A-C,1)>1000*%eps then pause,end +trans_option=1; +X = linmeq(2,A,C,flag,trans_option); +if norm(A*X+X*A'-C,1)>1000*%eps then pause,end + +//Large dimension +n=23; +//A full +A=testmat2(2.5,n);C=rand(n,n);C=C+C'; +X = linmeq(2,A,C); +if norm(A'*X+X*A-C,1)>100000*%eps then pause,end +flag=[0,0]; +X = linmeq(2,A,C,flag); +if norm(A'*X+X*A-C,1)>100000*%eps then pause,end + +//A in schur form +[U,A]=schur(A); +flag=[0,1]; +X = linmeq(2,A,C,flag); +if norm(A'*X+X*A-C,1)>100000*%eps then pause,end + +//A in hess form +A=testmat2(2.5,n);[U,A]=hess(A); +flag=[0,2]; +X = linmeq(2,A,C,flag); +if norm(A'*X+X*A-C,1)>100000*%eps then pause,end + +//----------------------------------------------------------- +//---------- op(A)'*X*op(A) - X = C, (2b)-------------------- +//----------------------------------------------------------- +//Small dimension +n=4; +//A full +A=testmat1(2.5,n); +C=rand(n,n); +C=C+C'; +flag=[1,0]; +X = linmeq(2,A,C,flag); +if norm(A'*X*A-X-C,1)>1000*%eps then pause,end + +trans_option=0; +X = linmeq(2,A,C,flag,trans_option); +if norm(A'*X*A-X-C,1)>1000*%eps then pause,end +trans_option=1; +X = linmeq(2,A,C,flag,trans_option); +if norm(A*X*A'-X-C,1)>1000*%eps then pause,end + +//A in schur form +[U,A]=schur(A); +flag=[1,1]; +X = linmeq(2,A,C,flag); +if norm(A'*X*A-X-C,1)>1000*%eps then pause,end +trans_option=0; +X = linmeq(2,A,C,flag,trans_option); +if norm(A'*X*A-X-C,1)>1000*%eps then pause,end +trans_option=1; +X = linmeq(2,A,C,flag,trans_option); +if norm(A*X*A'-X-C,1)>1000*%eps then pause,end + +//A in hess form +A=testmat1(2.5,n);[U,A]=hess(A); +flag=[1,2]; +X = linmeq(2,A,C,flag); +if norm(A'*X*A-X-C,1)>1000*%eps then pause,end +trans_option=0; +X = linmeq(2,A,C,flag,trans_option); +if norm(A'*X*A-X-C,1)>1000*%eps then pause,end +trans_option=1; +X = linmeq(2,A,C,flag,trans_option); +if norm(A*X*A'-X-C,1)>1000*%eps then pause,end + +//Large dimension +n=23; +//A full +A=testmat1(2.5,n);C=rand(n,n);C=C+C'; +flag=[1,0]; +X = linmeq(2,A,C,flag); +if norm(A'*X*A-X-C,1)>100000*%eps then pause,end + +//A in schur form +[U,A]=schur(A); +flag=[1,1]; +X = linmeq(2,A,C,flag); +if norm(A'*X*A-X-C,1)>100000*%eps then pause,end + +//A in hess form +A=testmat1(2.5,n);[U,A]=hess(A); +flag=[1,2]; +X = linmeq(2,A,C,flag); +if norm(A'*X*A-X-C,1)>100000*%eps then pause,end +//----------------------------------------------------------- +//--- op(A)'*(op(X)'*op(X)) + (op(X)'*op(X))*op(A) = -- +//--- - op(C)'*op(C), (3a) -- +//----------------------------------------------------------- +//Small dimension +n=4; + +//A full +C = rand(n,n); +A = testmat1(2.5,n); +flag = [0,0]; + +if execstr('X = linmeq(3,A,C,flag)' ,'errcatch')==0 then pause,end +if execstr('X = linmeq(3,rand(3,3),C,flag)' ,'errcatch')==0 then pause,end +if execstr('X = linmeq(3,rand(4,3),C,flag)' ,'errcatch')==0 then pause,end +if execstr('X = linmeq(3,A,C,flag)' ,'errcatch')==0 then pause,end +if execstr('X = linmeq(3,A,rand(4,3),flag)' ,'errcatch')==0 then pause,end +if execstr('X = linmeq(3,A,rand(3,3),flag)' ,'errcatch')==0 then pause,end +if execstr('X = linmeq(3,A,C,flag,8)' ,'errcatch')==0 then pause,end +if execstr('X = linmeq(3,A,C,flag,0,4)' ,'errcatch')==0 then pause,end +if execstr('X = linmeq(3,A,C)' ,'errcatch')==0 then pause,end + +//shift poles to make all of them negative +function A=testmat3(a,n),A=testmat1(a,n)-(2+a^2)/a*eye(),endfunction +A=testmat3(2.5,n); +X = linmeq(3,A,C); +if norm(A'*(X'*X)+(X'*X)*A+C'*C,1)>1000*%eps then pause,end +flag=[0,0]; +X = linmeq(3,A,C,flag); +if norm(A'*(X'*X)+(X'*X)*A+C'*C,1)>1000*%eps then pause,end + +trans_option=0; +X = linmeq(3,A,C,flag,trans_option); +if norm(A'*(X'*X)+(X'*X)*A+C'*C,1)>1000*%eps then pause,end +trans_option=1; +X = linmeq(3,A,C,flag,trans_option); +if norm(A*(X*X')+(X*X')*A'+C*C',1)>1000*%eps then pause,end + + +//A in schur form +[U,A]=schur(A); +flag=[0,1]; +X = linmeq(3,A,C,flag); +if norm(A'*(X'*X)+(X'*X)*A+C'*C,1)>1000*%eps then pause,end +trans_option=0; +X = linmeq(3,A,C,flag,trans_option); +if norm(A'*(X'*X)+(X'*X)*A+C'*C,1)>1000*%eps then pause,end +trans_option=1; +X = linmeq(3,A,C,flag,trans_option); +if norm(A*(X*X')+(X*X')*A'+C*C',1)>1000*%eps then pause,end + +//A in hess form +A=testmat3(2.5,n);[U,A]=hess(A); +flag=[0,2]; +X = linmeq(3,A,C,flag); +if norm(A'*(X'*X)+(X'*X)*A+C'*C,1)>1000*%eps then pause,end +trans_option=0; +X = linmeq(3,A,C,flag,trans_option); +if norm(A'*(X'*X)+(X'*X)*A+C'*C,1)>1000*%eps then pause,end +trans_option=1; +X = linmeq(3,A,C,flag,trans_option); +if norm(A*(X*X')+(X*X')*A'+C*C',1)>1000*%eps then pause,end + +//Large dimension +n=23; +//A full +A=testmat3(2.5,n);C=rand(n,n); +X = linmeq(3,A,C); +if norm(A'*(X'*X)+(X'*X)*A+C'*C,1)>100000*%eps then pause,end +flag=[0,0]; +X = linmeq(3,A,C,flag); +if norm(A'*(X'*X)+(X'*X)*A+C'*C,1)>100000*%eps then pause,end + +//A in schur form +[U,A]=schur(A); +flag=[0,1]; +X = linmeq(3,A,C,flag); +if norm(A'*(X'*X)+(X'*X)*A+C'*C,1)>100000*%eps then pause,end + +//A in hess form +A=testmat3(2.5,n);[U,A]=hess(A); +flag=[0,2]; +X = linmeq(3,A,C,flag); +if norm(A'*(X'*X)+(X'*X)*A+C'*C,1)>100000*%eps then pause,end + +//----------------------------------------------------------- +//--- op(A)'*(op(X)'*op(X))*op(A) - op(X)'*op(X) = -- +//--- - op(C)'*op(C), (3a) -- +//----------------------------------------------------------- + +//Small dimension +n = 4; + +//A full +C = rand(n,n); +A = testmat1(2.5,n); +flag = [1,0]; + +if execstr('X = linmeq(3,A,C,flag)' ,'errcatch')==0 then pause,end +if execstr('X = linmeq(3,rand(3,3),C,flag)' ,'errcatch')==0 then pause,end +if execstr('X = linmeq(3,rand(4,3),C,flag)' ,'errcatch')==0 then pause,end +if execstr('X = linmeq(3,A,C,flag)' ,'errcatch')==0 then pause,end +if execstr('X = linmeq(3,A,rand(4,3),flag)' ,'errcatch')==0 then pause,end +if execstr('X = linmeq(3,A,rand(3,3),flag)' ,'errcatch')==0 then pause,end +if execstr('X = linmeq(3,A,C,flag,8)' ,'errcatch')==0 then pause,end +if execstr('X = linmeq(3,A,C,flag,0,4)' ,'errcatch')==0 then pause,end + +//shift poles to make all of them negative +function A=testmat4(a,n),A=testmat1(a,n)/((2+a^2)/a),endfunction +A=testmat4(2.5,n); +flag=[1,0]; +X = linmeq(3,A,C,flag); +if norm(A'*(X'*X)*A-X'*X+C'*C,1)>1000*%eps then pause,end + +trans_option=0; +X = linmeq(3,A,C,flag,trans_option); +if norm(A'*(X'*X)*A-X'*X+C'*C,1)>1000*%eps then pause,end +trans_option=1; +X = linmeq(3,A,C,flag,trans_option); +if norm(A*(X*X')*A'-X*X'+C*C',1)>1000*%eps then pause,end + + +//A in schur form +[U,A]=schur(A); +flag=[1,1]; +X = linmeq(3,A,C,flag); +if norm(A'*(X'*X)*A-X'*X+C'*C,1)>1000*%eps then pause,end +trans_option=0; +X = linmeq(3,A,C,flag,trans_option); +if norm(A'*(X'*X)*A-X'*X+C'*C,1)>1000*%eps then pause,end +trans_option=1; +X = linmeq(3,A,C,flag,trans_option); +if norm(A*(X*X')*A'-X*X'+C*C',1)>1000*%eps then pause,end + +//A in hess form +A=testmat4(2.5,n);[U,A]=hess(A); +flag=[1,2]; +X = linmeq(3,A,C,flag); +if norm(A'*(X'*X)*A-X'*X+C'*C,1)>1000*%eps then pause,end +trans_option=0; +X = linmeq(3,A,C,flag,trans_option); +if norm(A'*(X'*X)*A-X'*X+C'*C,1)>1000*%eps then pause,end +trans_option=1; +X = linmeq(3,A,C,flag,trans_option); +if norm(A*(X*X')*A'-X*X'+C*C',1)>1000*%eps then pause,end + +//Large dimension +n=23; +//A full +A=testmat4(2.5,n);C=rand(n,n); +flag=[1,0]; +X = linmeq(3,A,C,flag); +if norm(A'*(X'*X)*A-X'*X+C'*C,1)>100000*%eps then pause,end +flag=[1,0]; +X = linmeq(3,A,C,flag); +if norm(A'*(X'*X)*A-X'*X+C'*C,1)>100000*%eps then pause,end + +//A in schur form +[U,A]=schur(A); +flag=[1,1]; +X = linmeq(3,A,C,flag); +if norm(A'*(X'*X)*A-X'*X+C'*C,1)>100000*%eps then pause,end + +//A in hess form +A=testmat4(2.5,n);[U,A]=hess(A); +flag=[1,2]; +X = linmeq(3,A,C,flag); +if norm(A'*(X'*X)*A-X'*X+C'*C,1)>100000*%eps then pause,end diff --git a/modules/cacsd/tests/unit_tests/margins.dia.ref b/modules/cacsd/tests/unit_tests/margins.dia.ref new file mode 100755 index 000000000..5e4cc23b3 --- /dev/null +++ b/modules/cacsd/tests/unit_tests/margins.dia.ref @@ -0,0 +1,123 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2010 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// <-- ENGLISH IMPOSED --> +//gain margin +//----------- +function ok=check_gmargin(h,fref,gref) + eps=1e-10 + [g,f]=g_margin(h) + if fref==0 then + ok=abs(f - fref)<eps + else + ok=abs(f - fref)/abs(fref)<eps + end + if gref==0 then + ok=ok&abs(g - gref)<eps + else + ok=ok&abs(g - gref)/abs(gref)<eps + end +endfunction +//discrete time case +z=poly(0,'z'); +//the references solutions are computed using the following Maple instructions +//Digits:=50: +//z:=exp(I*w): +//assume(w, 'real', w > 0) +//h:= rational fraction in z +//M := solve(Im(h) = 0, w) +//evalf(M/(2*Pi)) +//evalf(eval(20*log10(1/abs(h)), w = M[k])) +h = syslin(0.1,((29/625)+(2399/50000)*z)/((1131/1250)+(-181/100)*z+z^2)); +f_ref=atan(sqrt(9003479136639)/4963519)/(0.1*2*%pi); +g_ref=6.242379356591869534116; +if ~check_gmargin(h,f_ref,g_ref) then bugmes();quit;end +h=syslin(0.1,((43/500)+(-161/1000)*z+(39/500)*z^2)/((-67/100)+(1143/500)*z+(-261/100)*z^2+z^3)); +f_ref=atan((1/215)*sqrt(1136805-8330*sqrt(5970))/(833/43+(1/215)*sqrt(5970)))/(0.1*2*%pi); +g_ref=12.3470513198103944037870; +if ~check_gmargin(h,f_ref,g_ref) then bugmes();quit;end +h=syslin(0.1,((129/500)+(-483/1000)*z+(117/500)*z^2)/((-67/100)+(1143/500)*z+(-261/100)*z^2+z^3)); +f_ref=atan((1/215)*sqrt(1136805-8330*sqrt(5970))/(833/43+(1/215)*sqrt(5970)))/(0.1*2*%pi); +g_ref=2.8046262254171456578864840; +if ~check_gmargin(h,f_ref,g_ref) then bugmes();quit;end +h=syslin(1,((21/500)+(-3933/100000)*z+(-15407/100000)*z^2+(9259/50000)*z^3+(6939/(10^12))*z^4)/((-21/500)+(11/125)*z+(57/500)*z^2+(-9/25)*z^3+(1/5)*z^4)); +f_ref=1/2; +g_ref=6.48227782514616029706190; +if ~check_gmargin(h,f_ref,g_ref) then bugmes();quit;end +//continuuous time case +s=poly(0,'s'); +//the reference solutions are computed using the following Maple instructions +//s:=I*w: +//assume(w, 'real', w > 0) +//h:= rational fraction in z +//M := solve(Im(h) = 0, w) +//evalf(M/(2*Pi)) +//evalf(eval(20*log10(1/abs(h)), w = M[k])) +h=syslin('c',(-1+s)/(3+2*s+s^2)); +f_ref=0; +g_ref=9.5424250943932487459005580; +if ~check_gmargin(h,f_ref,g_ref) then bugmes();quit;end +h = syslin('c',((1/5)+(4/5)*s+(0/1)*s^2+(3/10)*s^3)/((409/10000)+(1827/10000)*s+(5129/4000)*s^2+(31909/10000)*s^3+(64/25)*s^4 +s^5)); +f_ref=0.0714555258202006740373134; +g_ref=-4.91687406933815400242335; +if ~check_gmargin(h,f_ref,g_ref) then bugmes();quit;end +h=syslin('c',485000/(10000*s+200*s^2+s^3)); +f_ref=100/(2*%pi); +g_ref=12.305765141234350772862319; +if ~check_gmargin(h,f_ref,g_ref) then bugmes();quit;end +h = syslin('c',1/(s+2*s^2+s^3)); +f_ref=1/(2*%pi); +g_ref=6.0205999132796239042747779; +if ~check_gmargin(h,f_ref,g_ref) then bugmes();quit;end +//phase margin +//----------- +function ok=check_pmargin(h,f_ref,p_ref) + eps=1e-9 + [p,f]=p_margin(h) + if f_ref==0 then + ok=abs(f - f_ref)<eps + else + ok=abs(f - f_ref)/abs(f_ref)<eps + end + if p_ref==0 then + ok=ok&abs(p - p_ref)<eps + else + ok=ok&abs(p - p_ref)/abs(p_ref)<eps + end +endfunction +//discrete time case +//the reference solutions are computed using the following Maple instructions +//z:=exp(I*w): +//assume(w, 'real', w > 0) +//P := solve(abs(h) = 1, w) +//evalf(-(eval(180-180*argument(h)/Pi, w = Re(P[k]))))+360 +h = syslin(0.1,((29/625)+(2399/50000)*z)/((1131/1250)+(-181/100)*z+z^2)); +f_ref=0.693016600315284442350578876; +p_ref=13.57115563612946355428439468; +if ~check_pmargin(h,f_ref,p_ref) then bugmes();quit;end +h=syslin(0.1,((43/500)+(-161/1000)*z+(39/500)*z^2)/((-67/100)+(1143/500)*z+(-261/100)*z^2+z^3)); +[p ,f]=p_margin(h); +if p<>%inf then bugmes();quit;end +if f<>[] then bugmes();quit;end +h=syslin(0.1,3*(0.086-0.161*%z+0.078*%z^2),-0.67+2.286*%z-2.61*%z^2+%z^3); +h=syslin(0.1,((129/500)+(-483/1000)*z+(117/500)*z^2)/((-67/100)+(1143/500)*z+(-261/100)*z^2+z^3)); +f_ref=0.212336488950669705771059018; +p_ref=52.94967415965772478856630911; +if ~check_pmargin(h,f_ref,p_ref) then bugmes();quit;end +//continuous case +//the reference solutions are computed using the following Maple instructions +//z:=I*w: +//assume(w, 'real', w > 0) +//P := solve(abs(h) = 1, w) +//evalf(-(eval(180-180*argument(h)/Pi, w = Re(P[k]))))+360 +h=syslin('c',((11/10)+(12/5)*s+(7/10)*s^2)/(3+2*s+s^2)); +f_ref=(1/51)*sqrt(15861-204*sqrt(3562))/(2*%pi); +p_ref=-148.547076202317410601324666; +if ~check_pmargin(h,f_ref,p_ref) then bugmes();quit;end +h = syslin('c',((1/5)+(4/5)*s+(3/10)*s^3)/((409/10000)+(1827/10000)*s+(5129/4000)*s^2+(31909/10000)*s^3+(64/25)*s^4+s^5)); +f_ref=0.09144216563554157543991; +p_ref=-13.1128497150069802772313; +if ~check_pmargin(h,f_ref,p_ref) then bugmes();quit;end diff --git a/modules/cacsd/tests/unit_tests/margins.tst b/modules/cacsd/tests/unit_tests/margins.tst new file mode 100755 index 000000000..286120c49 --- /dev/null +++ b/modules/cacsd/tests/unit_tests/margins.tst @@ -0,0 +1,151 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2010 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +// <-- ENGLISH IMPOSED --> + +//gain margin +//----------- +function ok=check_gmargin(h,fref,gref) + eps=1e-10 + [g,f]=g_margin(h) + if fref==0 then + ok=abs(f - fref)<eps + else + ok=abs(f - fref)/abs(fref)<eps + end + if gref==0 then + ok=ok&abs(g - gref)<eps + else + ok=ok&abs(g - gref)/abs(gref)<eps + end +endfunction + +//discrete time case +z=poly(0,'z'); +//the references solutions are computed using the following Maple instructions +//Digits:=50: +//z:=exp(I*w): +//assume(w, 'real', w > 0) +//h:= rational fraction in z +//M := solve(Im(h) = 0, w) +//evalf(M/(2*Pi)) +//evalf(eval(20*log10(1/abs(h)), w = M[k])) + +h = syslin(0.1,((29/625)+(2399/50000)*z)/((1131/1250)+(-181/100)*z+z^2)); +f_ref=atan(sqrt(9003479136639)/4963519)/(0.1*2*%pi); +g_ref=6.242379356591869534116; +if ~check_gmargin(h,f_ref,g_ref) then pause,end + + + +h=syslin(0.1,((43/500)+(-161/1000)*z+(39/500)*z^2)/((-67/100)+(1143/500)*z+(-261/100)*z^2+z^3)); +f_ref=atan((1/215)*sqrt(1136805-8330*sqrt(5970))/(833/43+(1/215)*sqrt(5970)))/(0.1*2*%pi); +g_ref=12.3470513198103944037870; +if ~check_gmargin(h,f_ref,g_ref) then pause,end + +h=syslin(0.1,((129/500)+(-483/1000)*z+(117/500)*z^2)/((-67/100)+(1143/500)*z+(-261/100)*z^2+z^3)); +f_ref=atan((1/215)*sqrt(1136805-8330*sqrt(5970))/(833/43+(1/215)*sqrt(5970)))/(0.1*2*%pi); +g_ref=2.8046262254171456578864840; +if ~check_gmargin(h,f_ref,g_ref) then pause,end + + +h=syslin(1,((21/500)+(-3933/100000)*z+(-15407/100000)*z^2+(9259/50000)*z^3+(6939/(10^12))*z^4)/((-21/500)+(11/125)*z+(57/500)*z^2+(-9/25)*z^3+(1/5)*z^4)); +f_ref=1/2; +g_ref=6.48227782514616029706190; +if ~check_gmargin(h,f_ref,g_ref) then pause,end + +//continuuous time case +s=poly(0,'s'); +//the reference solutions are computed using the following Maple instructions +//s:=I*w: +//assume(w, 'real', w > 0) +//h:= rational fraction in z +//M := solve(Im(h) = 0, w) +//evalf(M/(2*Pi)) +//evalf(eval(20*log10(1/abs(h)), w = M[k])) + +h=syslin('c',(-1+s)/(3+2*s+s^2)); +f_ref=0; +g_ref=9.5424250943932487459005580; +if ~check_gmargin(h,f_ref,g_ref) then pause,end + + +h = syslin('c',((1/5)+(4/5)*s+(0/1)*s^2+(3/10)*s^3)/((409/10000)+(1827/10000)*s+(5129/4000)*s^2+(31909/10000)*s^3+(64/25)*s^4 +s^5)); +f_ref=0.0714555258202006740373134; +g_ref=-4.91687406933815400242335; +if ~check_gmargin(h,f_ref,g_ref) then pause,end + + +h=syslin('c',485000/(10000*s+200*s^2+s^3)); +f_ref=100/(2*%pi); +g_ref=12.305765141234350772862319; +if ~check_gmargin(h,f_ref,g_ref) then pause,end + + +h = syslin('c',1/(s+2*s^2+s^3)); +f_ref=1/(2*%pi); +g_ref=6.0205999132796239042747779; +if ~check_gmargin(h,f_ref,g_ref) then pause,end + +//phase margin +//----------- +function ok=check_pmargin(h,f_ref,p_ref) + eps=1e-9 + [p,f]=p_margin(h) + if f_ref==0 then + ok=abs(f - f_ref)<eps + else + ok=abs(f - f_ref)/abs(f_ref)<eps + end + if p_ref==0 then + ok=ok&abs(p - p_ref)<eps + else + ok=ok&abs(p - p_ref)/abs(p_ref)<eps + end +endfunction + +//discrete time case +//the reference solutions are computed using the following Maple instructions +//z:=exp(I*w): +//assume(w, 'real', w > 0) +//P := solve(abs(h) = 1, w) +//evalf(-(eval(180-180*argument(h)/Pi, w = Re(P[k]))))+360 + +h = syslin(0.1,((29/625)+(2399/50000)*z)/((1131/1250)+(-181/100)*z+z^2)); +f_ref=0.693016600315284442350578876; +p_ref=13.57115563612946355428439468; +if ~check_pmargin(h,f_ref,p_ref) then pause,end + + +h=syslin(0.1,((43/500)+(-161/1000)*z+(39/500)*z^2)/((-67/100)+(1143/500)*z+(-261/100)*z^2+z^3)); +[p ,f]=p_margin(h); +if p<>%inf then pause,end +if f<>[] then pause,end + +h=syslin(0.1,3*(0.086-0.161*%z+0.078*%z^2),-0.67+2.286*%z-2.61*%z^2+%z^3); +h=syslin(0.1,((129/500)+(-483/1000)*z+(117/500)*z^2)/((-67/100)+(1143/500)*z+(-261/100)*z^2+z^3)); +f_ref=0.212336488950669705771059018; +p_ref=52.94967415965772478856630911; +if ~check_pmargin(h,f_ref,p_ref) then pause,end + +//continuous case +//the reference solutions are computed using the following Maple instructions +//z:=I*w: +//assume(w, 'real', w > 0) +//P := solve(abs(h) = 1, w) +//evalf(-(eval(180-180*argument(h)/Pi, w = Re(P[k]))))+360 + +h=syslin('c',((11/10)+(12/5)*s+(7/10)*s^2)/(3+2*s+s^2)); +f_ref=(1/51)*sqrt(15861-204*sqrt(3562))/(2*%pi); +p_ref=-148.547076202317410601324666; +if ~check_pmargin(h,f_ref,p_ref) then pause,end + + +h = syslin('c',((1/5)+(4/5)*s+(3/10)*s^3)/((409/10000)+(1827/10000)*s+(5129/4000)*s^2+(31909/10000)*s^3+(64/25)*s^4+s^5)); +f_ref=0.09144216563554157543991; +p_ref=-13.1128497150069802772313; +if ~check_pmargin(h,f_ref,p_ref) then pause,end diff --git a/modules/cacsd/tests/unit_tests/nyquist.dia.ref b/modules/cacsd/tests/unit_tests/nyquist.dia.ref new file mode 100755 index 000000000..2e6e1b538 --- /dev/null +++ b/modules/cacsd/tests/unit_tests/nyquist.dia.ref @@ -0,0 +1,154 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) ????-2010 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// <-- TEST WITH GRAPHIC --> +// <-- ENGLISH IMPOSED --> +function r=checknyquist(Args,leg) + if size(Args)==1 then Args($+1)=1d-3; Args($+1)=1d+3;end + [frq,rf,splitf]=repfreq(Args(:));repi=imag(rf);repf=real(rf); + [mn,n]=size(rf); + splitf($+1)=n+1; + ksplit=1;sel=splitf(ksplit):splitf(ksplit+1)-1; + R=[repf(:,sel)]; I=[repi(:,sel)]; + for ksplit=2:size(splitf,'*')-1 + sel=splitf(ksplit):splitf(ksplit+1)-1 + R=[R %nan(ones(mn,1)) repf(:,sel)]; + I=[I %nan(ones(mn,1)) repi(:,sel)]; + end + //use symetry + R=[R R(:,$:-1:1)]; + I=[I -I(:,$:-1:1)]; + l=find(~isnan(R(1,:))) + fig=gcf(); + r=0 + a=fig.children; + if a.log_flags<>'nnn' then r=1;return,end + if or(a.axes_visible<>["on","on","on"]) then r=2;return,end + n=size(Args(1),1) + n1=size(a.children,'*') + if (argn(2)==1&(n<>n1))|(argn(2)==2&(n+1<>n1)) then r=3;return,end + for k=1:n; + if a.children($+1-k).type<>'Compound' then r=4;return,end + if size(a.children($+1-k).children,'*')<>2 then r=5;return,end + if a.children($+1-k).children(1).type<>'Compound' then r=6;return, end + if a.children($+1-k).children(2).type<>'Polyline' then r=7;return, end + if %f then //temporarily removed for 5.0 + if a.children($+1-k).children(1).children(1).type<>'Segs' then r=8;return, end + ns=size(a.children($+1-k).children(1).children(1).data,1); + if size(a.children($+1-k).children(1).children,'*')-2<>(ns/2) then r=9;return, end + if or(a.children($+1-k).children(1).children(2:$).type<>'Text') then r=10;return, end + end + if or(l<>find(~isnan(a.children($+1-k).children(2).data(:,1)))) then r=11;return, end + if norm(a.children($+1-k).children(2).data(l,:)-[R(k,l)' I(k,l)'])> 1d-14 then r=12;return, end + s= a.children($+1-k).children(1).children(1); + end + if argn(2)==2 then //test the legend + if size(a.children,'*')<=n then r=13;return,end + if a.children(1).type<>'Legend' then r=14;return,end + if size(a.children(1).links,'*')<>n then r=15;return,end + if or(a.children(1).text<>leg(:)) then r=16;return,end + end +endfunction +s=poly(0,'s'); +n=1+s;d=1+2*s; +h=syslin('c',n,d); +sl=tf2ss(h); +sld=dscr(sl,0.01); +hd=ss2tf(sld); +[w,rf]=repfreq(h,0.01,100); +//continuous time +clf();nyquist(h); +if checknyquist(list(h)) then bugmes();quit;end +clf();nyquist(h,'h'); +if checknyquist(list(h),'h') then bugmes();quit;end +clf();nyquist(h,0.01,100); +if checknyquist(list(h,0.01,100)) then bugmes();quit;end +clf();nyquist(h,0.01,100,'h'); +if checknyquist(list(h,0.01,100),'h') then bugmes();quit;end +clf();nyquist(h,0.01,100,0.01) +if checknyquist(list(h,0.01,100,0.01)) then bugmes();quit;end +clf();nyquist(sl,0.01,100); +if checknyquist(list(sl,0.01,100)) then bugmes();quit;end +clf();nyquist(sl,0.01,100,0.01) +if checknyquist(list(sl,0.01,100,0.01)) then bugmes();quit;end +//continuous time SIMO +h=[h;h+1];sl=[sl;sl+1]; +clf();nyquist(h); +if checknyquist(list(h)) then bugmes();quit;end +clf();nyquist(h,['h';'h+1']); +if checknyquist(list(h),['h';'h+1']) then bugmes();quit;end +clf();nyquist(h,0.01,100); +if checknyquist(list(h,0.01,100)) then bugmes();quit;end +clf();nyquist(h,0.01,100,['h';'h+1']); +if checknyquist(list(h,0.01,100),['h';'h+1']) then bugmes();quit;end +clf();nyquist(h,0.01,100,0.01) +if checknyquist(list(h,0.01,100,0.01)) then bugmes();quit;end +clf();nyquist(sl,0.01,100); +if checknyquist(list(sl,0.01,100)) then bugmes();quit;end +clf();nyquist(sl,0.01,100,0.01) +if checknyquist(list(sl,0.01,100,0.01)) then bugmes();quit;end +//discrete case +clf();nyquist(hd); +WARNING: calfrq: Frequencies beyond Nyquist frequency are ignored. +if checknyquist(list(hd)) then bugmes();quit;end +WARNING: calfrq: Frequencies beyond Nyquist frequency are ignored. +clf();nyquist(hd,'h'); +WARNING: calfrq: Frequencies beyond Nyquist frequency are ignored. +if checknyquist(list(hd),'h') then bugmes();quit;end +WARNING: calfrq: Frequencies beyond Nyquist frequency are ignored. +clf();nyquist(hd,0.01,100); +WARNING: calfrq: Frequencies beyond Nyquist frequency are ignored. +if checknyquist(list(hd,0.01,100)) then bugmes();quit;end +WARNING: calfrq: Frequencies beyond Nyquist frequency are ignored. +clf();nyquist(hd,0.01,100,'h'); +WARNING: calfrq: Frequencies beyond Nyquist frequency are ignored. +if checknyquist(list(hd,0.01,100),'h') then bugmes();quit;end +WARNING: calfrq: Frequencies beyond Nyquist frequency are ignored. +clf();nyquist(hd,0.01,100,0.01) +if checknyquist(list(hd,0.01,100,0.01)) then bugmes();quit;end +clf();nyquist(sld,0.01,100); +WARNING: calfrq: Frequencies beyond Nyquist frequency are ignored. +if checknyquist(list(sld,0.01,100)) then bugmes();quit;end +WARNING: calfrq: Frequencies beyond Nyquist frequency are ignored. +clf();nyquist(sld,0.01,100,0.01) +if checknyquist(list(sld,0.01,100,0.01)) then bugmes();quit;end +//discrete case SIMO +hd=[hd;hd+1];sld=[sld;sld+1]; +clf();nyquist(hd); +WARNING: calfrq: Frequencies beyond Nyquist frequency are ignored. +if checknyquist(list(hd)) then bugmes();quit;end +WARNING: calfrq: Frequencies beyond Nyquist frequency are ignored. +clf();nyquist(hd,['h';'h+1']); +WARNING: calfrq: Frequencies beyond Nyquist frequency are ignored. +if checknyquist(list(hd),['h';'h+1']) then bugmes();quit;end +WARNING: calfrq: Frequencies beyond Nyquist frequency are ignored. +clf();nyquist(hd,0.01,100); +WARNING: calfrq: Frequencies beyond Nyquist frequency are ignored. +if checknyquist(list(hd,0.01,100)) then bugmes();quit;end +WARNING: calfrq: Frequencies beyond Nyquist frequency are ignored. +clf();nyquist(hd,0.01,100,['h';'h+1']); +WARNING: calfrq: Frequencies beyond Nyquist frequency are ignored. +if checknyquist(list(hd,0.01,100),['h';'h+1']) then bugmes();quit;end +WARNING: calfrq: Frequencies beyond Nyquist frequency are ignored. +clf();nyquist(hd,0.01,100,0.01) +if checknyquist(list(hd,0.01,100,0.01)) then bugmes();quit;end +clf();nyquist(sld,0.01,100); +WARNING: calfrq: Frequencies beyond Nyquist frequency are ignored. +if checknyquist(list(sld,0.01,100)) then bugmes();quit;end +WARNING: calfrq: Frequencies beyond Nyquist frequency are ignored. +clf();nyquist(sld,0.01,100,0.01) +if checknyquist(list(sld,0.01,100,0.01)) then bugmes();quit;end +//nyquist given by precmputed freqency response +clf(); nyquist(w,rf) +clf(); nyquist(w,20*log(abs(rf))/log(10),(180/%pi)*atan(imag(rf),real(rf))) +// check legend color +clf(); +F1=syslin('c',(2.5*0.8)/((0.25*%s+1)*(0.8*%s+1))); +F2=syslin('c',(0.88*2.5*0.8)/((0.25*%s+1)*(0.8*%s+1))); +F3=syslin('c',(100*2.5*0.8)/((0.25*%s+1)*(0.8*%s+1))); +nyquist ([F1;F2;F3],0.0 ,1000,["F1(Kr=1)";"F2(Kr=0,88)";"F3(Kr=10)"],%f) +a=gca(); +assert_checkequal(a.children(1).links.foreground, [3, 2, 1]); // [green blue black] diff --git a/modules/cacsd/tests/unit_tests/nyquist.tst b/modules/cacsd/tests/unit_tests/nyquist.tst new file mode 100755 index 000000000..5da957195 --- /dev/null +++ b/modules/cacsd/tests/unit_tests/nyquist.tst @@ -0,0 +1,158 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) ????-2010 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +// <-- TEST WITH GRAPHIC --> +// <-- ENGLISH IMPOSED --> + +function r=checknyquist(Args,leg) + if size(Args)==1 then Args($+1)=1d-3; Args($+1)=1d+3;end + [frq,rf,splitf]=repfreq(Args(:));repi=imag(rf);repf=real(rf); + [mn,n]=size(rf); + splitf($+1)=n+1; + + ksplit=1;sel=splitf(ksplit):splitf(ksplit+1)-1; + R=[repf(:,sel)]; I=[repi(:,sel)]; + for ksplit=2:size(splitf,'*')-1 + sel=splitf(ksplit):splitf(ksplit+1)-1 + R=[R %nan(ones(mn,1)) repf(:,sel)]; + I=[I %nan(ones(mn,1)) repi(:,sel)]; + end + //use symetry + R=[R R(:,$:-1:1)]; + I=[I -I(:,$:-1:1)]; + + l=find(~isnan(R(1,:))) + fig=gcf(); + r=0 + a=fig.children; + + if a.log_flags<>'nnn' then r=1;return,end + if or(a.axes_visible<>["on","on","on"]) then r=2;return,end + + n=size(Args(1),1) + n1=size(a.children,'*') + if (argn(2)==1&(n<>n1))|(argn(2)==2&(n+1<>n1)) then r=3;return,end + for k=1:n; + if a.children($+1-k).type<>'Compound' then r=4;return,end + if size(a.children($+1-k).children,'*')<>2 then r=5;return,end + if a.children($+1-k).children(1).type<>'Compound' then r=6;return, end + if a.children($+1-k).children(2).type<>'Polyline' then r=7;return, end + if %f then //temporarily removed for 5.0 + if a.children($+1-k).children(1).children(1).type<>'Segs' then r=8;return, end + ns=size(a.children($+1-k).children(1).children(1).data,1); + if size(a.children($+1-k).children(1).children,'*')-2<>(ns/2) then r=9;return, end + if or(a.children($+1-k).children(1).children(2:$).type<>'Text') then r=10;return, end + end + if or(l<>find(~isnan(a.children($+1-k).children(2).data(:,1)))) then r=11;return, end + if norm(a.children($+1-k).children(2).data(l,:)-[R(k,l)' I(k,l)'])> 1d-14 then r=12;return, end + s= a.children($+1-k).children(1).children(1); + end + if argn(2)==2 then //test the legend + if size(a.children,'*')<=n then r=13;return,end + if a.children(1).type<>'Legend' then r=14;return,end + if size(a.children(1).links,'*')<>n then r=15;return,end + if or(a.children(1).text<>leg(:)) then r=16;return,end + end +endfunction + + +s=poly(0,'s'); +n=1+s;d=1+2*s; +h=syslin('c',n,d); +sl=tf2ss(h); +sld=dscr(sl,0.01); +hd=ss2tf(sld); + +[w,rf]=repfreq(h,0.01,100); + +//continuous time +clf();nyquist(h); +if checknyquist(list(h)) then pause,end +clf();nyquist(h,'h'); +if checknyquist(list(h),'h') then pause,end + +clf();nyquist(h,0.01,100); +if checknyquist(list(h,0.01,100)) then pause,end +clf();nyquist(h,0.01,100,'h'); +if checknyquist(list(h,0.01,100),'h') then pause,end + +clf();nyquist(h,0.01,100,0.01) +if checknyquist(list(h,0.01,100,0.01)) then pause,end +clf();nyquist(sl,0.01,100); +if checknyquist(list(sl,0.01,100)) then pause,end +clf();nyquist(sl,0.01,100,0.01) +if checknyquist(list(sl,0.01,100,0.01)) then pause,end + +//continuous time SIMO +h=[h;h+1];sl=[sl;sl+1]; +clf();nyquist(h); +if checknyquist(list(h)) then pause,end +clf();nyquist(h,['h';'h+1']); +if checknyquist(list(h),['h';'h+1']) then pause,end + +clf();nyquist(h,0.01,100); +if checknyquist(list(h,0.01,100)) then pause,end +clf();nyquist(h,0.01,100,['h';'h+1']); +if checknyquist(list(h,0.01,100),['h';'h+1']) then pause,end + +clf();nyquist(h,0.01,100,0.01) +if checknyquist(list(h,0.01,100,0.01)) then pause,end +clf();nyquist(sl,0.01,100); +if checknyquist(list(sl,0.01,100)) then pause,end +clf();nyquist(sl,0.01,100,0.01) +if checknyquist(list(sl,0.01,100,0.01)) then pause,end + +//discrete case +clf();nyquist(hd); +if checknyquist(list(hd)) then pause,end +clf();nyquist(hd,'h'); +if checknyquist(list(hd),'h') then pause,end + +clf();nyquist(hd,0.01,100); +if checknyquist(list(hd,0.01,100)) then pause,end +clf();nyquist(hd,0.01,100,'h'); +if checknyquist(list(hd,0.01,100),'h') then pause,end + +clf();nyquist(hd,0.01,100,0.01) +if checknyquist(list(hd,0.01,100,0.01)) then pause,end +clf();nyquist(sld,0.01,100); +if checknyquist(list(sld,0.01,100)) then pause,end +clf();nyquist(sld,0.01,100,0.01) +if checknyquist(list(sld,0.01,100,0.01)) then pause,end + +//discrete case SIMO +hd=[hd;hd+1];sld=[sld;sld+1]; +clf();nyquist(hd); +if checknyquist(list(hd)) then pause,end +clf();nyquist(hd,['h';'h+1']); +if checknyquist(list(hd),['h';'h+1']) then pause,end + +clf();nyquist(hd,0.01,100); +if checknyquist(list(hd,0.01,100)) then pause,end +clf();nyquist(hd,0.01,100,['h';'h+1']); +if checknyquist(list(hd,0.01,100),['h';'h+1']) then pause,end + +clf();nyquist(hd,0.01,100,0.01) +if checknyquist(list(hd,0.01,100,0.01)) then pause,end +clf();nyquist(sld,0.01,100); +if checknyquist(list(sld,0.01,100)) then pause,end +clf();nyquist(sld,0.01,100,0.01) +if checknyquist(list(sld,0.01,100,0.01)) then pause,end + +//nyquist given by precmputed freqency response + +clf(); nyquist(w,rf) +clf(); nyquist(w,20*log(abs(rf))/log(10),(180/%pi)*atan(imag(rf),real(rf))) + +// check legend color +clf(); +F1=syslin('c',(2.5*0.8)/((0.25*%s+1)*(0.8*%s+1))); +F2=syslin('c',(0.88*2.5*0.8)/((0.25*%s+1)*(0.8*%s+1))); +F3=syslin('c',(100*2.5*0.8)/((0.25*%s+1)*(0.8*%s+1))); +nyquist ([F1;F2;F3],0.0 ,1000,["F1(Kr=1)";"F2(Kr=0,88)";"F3(Kr=10)"],%f) +a=gca(); +assert_checkequal(a.children(1).links.foreground, [3, 2, 1]); // [green blue black] diff --git a/modules/cacsd/tests/unit_tests/odedi.dia.ref b/modules/cacsd/tests/unit_tests/odedi.dia.ref new file mode 100755 index 000000000..105c61ad3 --- /dev/null +++ b/modules/cacsd/tests/unit_tests/odedi.dia.ref @@ -0,0 +1,22 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) ????-2008 - INRIA +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// simple tests for arsimul and odedi +// x_{n+1}=n*x_{n}, x_{1}=1; +deff('[xnp1]=ttt(n,xn)','xnp1=(xn**2);'); +// use y=ode('discret',y1,1,2:n,macro);y=[y1,y] +// to get y=[y1,y2,....,y_n]; +//! +ero_n=0; +y=ode('discrete',2,1,2:4,ttt);y=[2,y]; +if y <> [2,4,16,256] then bugmes();quit;end +// arsimul tests +y=arsimul([1],[1],[0],0,1:10); +if y <> (1:10) then bugmes();quit;end +y=arsimul([1],[0,1],[0],0,1:10); +if y <> [0,1:9] then bugmes();quit;end +y=arsimul([1],[0,1],[0],0,1:10,[-5]); +if y <> [-5,1:9] then bugmes();quit;end diff --git a/modules/cacsd/tests/unit_tests/odedi.tst b/modules/cacsd/tests/unit_tests/odedi.tst new file mode 100755 index 000000000..8d50b5b68 --- /dev/null +++ b/modules/cacsd/tests/unit_tests/odedi.tst @@ -0,0 +1,28 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) ????-2008 - INRIA +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +// simple tests for arsimul and odedi +// x_{n+1}=n*x_{n}, x_{1}=1; +deff('[xnp1]=ttt(n,xn)','xnp1=(xn**2);'); +// use y=ode('discret',y1,1,2:n,macro);y=[y1,y] +// to get y=[y1,y2,....,y_n]; +//! +ero_n=0; +y=ode('discrete',2,1,2:4,ttt);y=[2,y]; +if y <> [2,4,16,256] then pause,end +// arsimul tests +y=arsimul([1],[1],[0],0,1:10); +if y <> (1:10) then pause,end +y=arsimul([1],[0,1],[0],0,1:10); +if y <> [0,1:9] then pause,end +y=arsimul([1],[0,1],[0],0,1:10,[-5]); +if y <> [-5,1:9] then pause,end + + + + + diff --git a/modules/cacsd/tests/unit_tests/plzr.dia.ref b/modules/cacsd/tests/unit_tests/plzr.dia.ref new file mode 100755 index 000000000..f5b739ed5 --- /dev/null +++ b/modules/cacsd/tests/unit_tests/plzr.dia.ref @@ -0,0 +1,126 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2013 - Scilab Enterprises - Charlotte HECQUET +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// <-- TEST WITH GRAPHIC --> +// +// Unit tests for plzr() +function checkplzr(h,zrs,pls) + if typeof(h)=="rational" then + plzr(h); + h=tf2ss(h); + [a,b,c,d]=h(2:5); + dt=h.dt; + elseif typeof(h)=="state-space" then + plzr(h); + [a,b,c,d]=h(2:5) + dt=h.dt; + else + plzr(h(1),h(2),h(3),h(4)); + a=h(1); + b=h(2); + c=h(3); + d=h(4); + dt=[]; + end + fig=gcf(); + ax=fig.children; + dr=spec(a) + [al,be]=tr_zer(a,b,c,d) + nr=al./be; + nr=real(nr); + dr=real(dr); + //nb_child=size + assert_checkequal(ax.type, "Axes"); + // Check axis name + assert_checkequal(ax.x_label.text, _("Real axis")); + assert_checkequal(ax.y_label.text, _("Imaginary axis")); + // Check legend + assert_checkequal(ax.children(1).type,"Legend"); + // Check stability + if dt == "d" then + assert_checkequal(ax.children(2).type,"Arc"); + else + assert_checkequal(ax.children(2).type,"Segs"); + end + // Check zeros + if size(nr,"*") <> 0 & size(dr,"*") == 0 then + assert_checkequal(ax.children(1).text, _("Zeros")); + assert_checkequal(ax.children(3).type, "Polyline"); + assert_checktrue(ax.children(3).data-zrs<1d-5); + end + // Check poles + if size(dr,"*") <> 0 & size(nr,"*") == 0 then + assert_checkequal(ax.children(1).text, _("Poles")); + assert_checkequal(ax.children(3).type, "Polyline"); + assert_checktrue(ax.children(3).data-pls<1d-5); + end + // Check zeros and poles + if size(nr,"*")<> 0 & size(dr,"*") <> 0 then + assert_checkequal(ax.children(1).text,[_("Poles");_("Zeros")]); + assert_checkequal(ax.children(3).type,"Polyline"); + assert_checkequal(ax.children(4).type,"Polyline"); + assert_checktrue(ax.children(3).data-zrs<1d-5); + assert_checktrue(ax.children(4).data-pls<1d-5); + end + close +endfunction +// With zeros and poles +s=poly(0,"s"); +n=1+s; +d=1+3*s; +// continuous transfert fct +hc=syslin("c",n./d); +checkplzr(hc,[-1/3 0],[-1 0]); +// discete transfert fct +hd=syslin("d",n./d); +checkplzr(hd,[-1/3 0],[-1 0]); +// undifined time domain transfert fct +h=syslin([],n./d); +checkplzr(h,[-1/3 0],[-1 0]); +// continuous state-space +ssc=tf2ss(hc); +checkplzr(ssc,[-1/3 0],[-1 0]); +checkplzr([ssc(2),ssc(3),ssc(4),ssc(5)],[-1/3 0],[-1 0]); +// discrete state-space +ssd=tf2ss(hd); +checkplzr(ssd,[-1/3 0],[-1 0]); +// undifined time domain state-space +ss=tf2ss(h); +checkplzr(ss,[-1/3 0],[-1 0]); +checkplzr([ss(2),ss(3),ss(4),ss(5)],[-1/3 0],[-1 0]); +// With poles +s=poly(0,"s"); +n=[1+s 2+3*s+4*s^2]; +d=[1+3*s 5-s^3]; +// continuous transfert fct +hc=syslin("c",n./d); +checkplzr(hc,[],[1.7099759,0;-0.8549880,1.4808826;-0.8549880,-1.4808826;-1/3 0]); +// discete transfert fct +hd=syslin("d",n./d); +checkplzr(hd,[],[1.7099759,0;-0.8549880,1.4808826;-0.8549880,-1.4808826;-1/3 0]); +// undifined time domain transfert fct +h=syslin([],n./d); +checkplzr(h,[],[1.7099759,0;-0.8549880,1.4808826;-0.8549880,-1.4808826;-1/3 0]); +// continuous state-space +ssc=tf2ss(hc); +checkplzr(ssc,[],[1.7099759,0;-0.8549880,1.4808826;-0.8549880,-1.4808826;-1/3 0]); +// discrete state-space +ssd=tf2ss(hd); +checkplzr(ssd,[],[1.7099759,0;-0.8549880,1.4808826;-0.8549880,-1.4808826;-1/3 0]); +// undifined time domain state-space +ss=tf2ss(h); +checkplzr(ss,[],[1.7099759,0;-0.8549880,1.4808826;-0.8549880,-1.4808826;-1/3 0]); +// error messages +errmsg1=msprintf(gettext("%s: Wrong number of input argument: %d expected.\n"),"plzr",4); +assert_checkerror("plzr(1)",errmsg1); +errmsg2=msprintf(gettext("%s: Wrong number of input arguments: %d expected.\n"),"plzr",1); +assert_checkerror("plzr(h,1)",errmsg2); +errmsg3=msprintf(gettext("%s: Wrong number of input arguments: %d expected.\n"),"plzr",1); +assert_checkerror("plzr(ss,1)",errmsg3); +errmsg4=msprintf(gettext("%s: Wrong type for input argument #%d: Linear dynamical system expected.\n"),"plzr",1); +assert_checkerror("plzr(n)",errmsg4); +errmsg5=msprintf(gettext("%s: Wrong type of input argument #%d: Array of floating point numbers expected.\n"),"plzr",1); +assert_checkerror("plzr(""s"",""d"")",errmsg5); diff --git a/modules/cacsd/tests/unit_tests/plzr.tst b/modules/cacsd/tests/unit_tests/plzr.tst new file mode 100755 index 000000000..23313d76b --- /dev/null +++ b/modules/cacsd/tests/unit_tests/plzr.tst @@ -0,0 +1,137 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2013 - Scilab Enterprises - Charlotte HECQUET +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +// <-- TEST WITH GRAPHIC --> +// +// Unit tests for plzr() + +function checkplzr(h,zrs,pls) + + if typeof(h)=="rational" then + plzr(h); + h=tf2ss(h); + [a,b,c,d]=h(2:5); + dt=h.dt; + elseif typeof(h)=="state-space" then + plzr(h); + [a,b,c,d]=h(2:5) + dt=h.dt; + else + plzr(h(1),h(2),h(3),h(4)); + a=h(1); + b=h(2); + c=h(3); + d=h(4); + dt=[]; + end + fig=gcf(); + ax=fig.children; + dr=spec(a) + [al,be]=tr_zer(a,b,c,d) + nr=al./be; + nr=real(nr); + dr=real(dr); + + //nb_child=size + assert_checkequal(ax.type, "Axes"); + + // Check axis name + assert_checkequal(ax.x_label.text, _("Real axis")); + assert_checkequal(ax.y_label.text, _("Imaginary axis")); + + // Check legend + assert_checkequal(ax.children(1).type,"Legend"); + + // Check stability + if dt == "d" then + assert_checkequal(ax.children(2).type,"Arc"); + else + assert_checkequal(ax.children(2).type,"Segs"); + end + + // Check zeros + if size(nr,"*") <> 0 & size(dr,"*") == 0 then + assert_checkequal(ax.children(1).text, _("Zeros")); + assert_checkequal(ax.children(3).type, "Polyline"); + assert_checktrue(ax.children(3).data-zrs<1d-5); + end + // Check poles + if size(dr,"*") <> 0 & size(nr,"*") == 0 then + assert_checkequal(ax.children(1).text, _("Poles")); + assert_checkequal(ax.children(3).type, "Polyline"); + assert_checktrue(ax.children(3).data-pls<1d-5); + end + // Check zeros and poles + if size(nr,"*")<> 0 & size(dr,"*") <> 0 then + assert_checkequal(ax.children(1).text,[_("Poles");_("Zeros")]); + assert_checkequal(ax.children(3).type,"Polyline"); + assert_checkequal(ax.children(4).type,"Polyline"); + assert_checktrue(ax.children(3).data-zrs<1d-5); + assert_checktrue(ax.children(4).data-pls<1d-5); + end + close +endfunction + +// With zeros and poles +s=poly(0,"s"); +n=1+s; +d=1+3*s; +// continuous transfert fct +hc=syslin("c",n./d); +checkplzr(hc,[-1/3 0],[-1 0]); +// discete transfert fct +hd=syslin("d",n./d); +checkplzr(hd,[-1/3 0],[-1 0]); +// undifined time domain transfert fct +h=syslin([],n./d); +checkplzr(h,[-1/3 0],[-1 0]); +// continuous state-space +ssc=tf2ss(hc); +checkplzr(ssc,[-1/3 0],[-1 0]); +checkplzr([ssc(2),ssc(3),ssc(4),ssc(5)],[-1/3 0],[-1 0]); +// discrete state-space +ssd=tf2ss(hd); +checkplzr(ssd,[-1/3 0],[-1 0]); +// undifined time domain state-space +ss=tf2ss(h); +checkplzr(ss,[-1/3 0],[-1 0]); +checkplzr([ss(2),ss(3),ss(4),ss(5)],[-1/3 0],[-1 0]); + +// With poles +s=poly(0,"s"); +n=[1+s 2+3*s+4*s^2]; +d=[1+3*s 5-s^3]; +// continuous transfert fct +hc=syslin("c",n./d); +checkplzr(hc,[],[1.7099759,0;-0.8549880,1.4808826;-0.8549880,-1.4808826;-1/3 0]); +// discete transfert fct +hd=syslin("d",n./d); +checkplzr(hd,[],[1.7099759,0;-0.8549880,1.4808826;-0.8549880,-1.4808826;-1/3 0]); +// undifined time domain transfert fct +h=syslin([],n./d); +checkplzr(h,[],[1.7099759,0;-0.8549880,1.4808826;-0.8549880,-1.4808826;-1/3 0]); +// continuous state-space +ssc=tf2ss(hc); +checkplzr(ssc,[],[1.7099759,0;-0.8549880,1.4808826;-0.8549880,-1.4808826;-1/3 0]); +// discrete state-space +ssd=tf2ss(hd); +checkplzr(ssd,[],[1.7099759,0;-0.8549880,1.4808826;-0.8549880,-1.4808826;-1/3 0]); +// undifined time domain state-space +ss=tf2ss(h); +checkplzr(ss,[],[1.7099759,0;-0.8549880,1.4808826;-0.8549880,-1.4808826;-1/3 0]); + +// error messages +errmsg1=msprintf(gettext("%s: Wrong number of input argument: %d expected.\n"),"plzr",4); +assert_checkerror("plzr(1)",errmsg1); +errmsg2=msprintf(gettext("%s: Wrong number of input arguments: %d expected.\n"),"plzr",1); +assert_checkerror("plzr(h,1)",errmsg2); +errmsg3=msprintf(gettext("%s: Wrong number of input arguments: %d expected.\n"),"plzr",1); +assert_checkerror("plzr(ss,1)",errmsg3); +errmsg4=msprintf(gettext("%s: Wrong type for input argument #%d: Linear dynamical system expected.\n"),"plzr",1); +assert_checkerror("plzr(n)",errmsg4); +errmsg5=msprintf(gettext("%s: Wrong type of input argument #%d: Array of floating point numbers expected.\n"),"plzr",1); +assert_checkerror("plzr(""s"",""d"")",errmsg5); diff --git a/modules/cacsd/tests/unit_tests/rankqr.dia.ref b/modules/cacsd/tests/unit_tests/rankqr.dia.ref new file mode 100755 index 000000000..05798b2b7 --- /dev/null +++ b/modules/cacsd/tests/unit_tests/rankqr.dia.ref @@ -0,0 +1,23 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2012 - SE - Sylvestre Ledru +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +A=testmatrix("magi",5); +[Q,R,JPVT,RANK,SVAL]=rankqr(A,%eps); +assert_checkequal(RANK, 5); +assert_checkequal(JPVT, [3,1,4,2,5]); +assert_checkalmostequal(SVAL, [64.612618,13.836178,13.836178], 1e-6); +R_ref=[-34.71311,-20.021254,-23.478161,-23.478161,-20.021254; +0,-25.576344,-11.727155,-15.441525,-17.170139; +0,0,-20.4022,3.0540446,-9.4882354; +0,0,0,17.493086,3.6461334; +0,0,0,0,16.000463]; +assert_checkalmostequal(R, R_ref, 1e-6); +Q_ref=[-0.0288076,-0.6421260,0.0101293,0.7647199,0.0441038; +-0.2016529,-0.7414138,-0.0279815,-0.6343960,0.0800023; +-0.3744983,0.1367641,-0.6279383,0.0707175,0.6646346; +-0.5473436,0.0374763,-0.4209775,0.0579516,-0.7200208; +-0.720189,0.1336816,0.6539005,0.0662258,0.1774410]; +assert_checkalmostequal(Q, Q_ref, 1e-5); diff --git a/modules/cacsd/tests/unit_tests/rankqr.tst b/modules/cacsd/tests/unit_tests/rankqr.tst new file mode 100755 index 000000000..8297f1fe0 --- /dev/null +++ b/modules/cacsd/tests/unit_tests/rankqr.tst @@ -0,0 +1,25 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2012 - SE - Sylvestre Ledru +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +A=testmatrix("magi",5); +[Q,R,JPVT,RANK,SVAL]=rankqr(A,%eps); +assert_checkequal(RANK, 5); +assert_checkequal(JPVT, [3,1,4,2,5]); +assert_checkalmostequal(SVAL, [64.612618,13.836178,13.836178], 1e-6); + +R_ref=[-34.71311,-20.021254,-23.478161,-23.478161,-20.021254; +0,-25.576344,-11.727155,-15.441525,-17.170139; +0,0,-20.4022,3.0540446,-9.4882354; +0,0,0,17.493086,3.6461334; +0,0,0,0,16.000463]; +assert_checkalmostequal(R, R_ref, 1e-6); + +Q_ref=[-0.0288076,-0.6421260,0.0101293,0.7647199,0.0441038; +-0.2016529,-0.7414138,-0.0279815,-0.6343960,0.0800023; +-0.3744983,0.1367641,-0.6279383,0.0707175,0.6646346; +-0.5473436,0.0374763,-0.4209775,0.0579516,-0.7200208; +-0.720189,0.1336816,0.6539005,0.0662258,0.1774410]; +assert_checkalmostequal(Q, Q_ref, 1e-5); diff --git a/modules/cacsd/tests/unit_tests/ricc.dia.ref b/modules/cacsd/tests/unit_tests/ricc.dia.ref new file mode 100755 index 000000000..2d303617b --- /dev/null +++ b/modules/cacsd/tests/unit_tests/ricc.dia.ref @@ -0,0 +1,16 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2012 - SE - Sylvestre Ledru +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +A = [8,8,9;1,8,6;2,5,9]; +B = [0,6;7,8;4,0]; +C = [8,5,5;9,8,1;5,0,7]; +C=C*C'; +R=[2,9; 5,7]; +R=R*R'+eye(); +B=B*inv(R)*B'; +X=ricc(A,B,C,'cont'); +X_ref=[44.84688,2.304207,66.647924;2.304207,27.392655,10.625534;66.647924,10.625534,118.86653]; +assert_checkalmostequal(X, X_ref, 1e-6); diff --git a/modules/cacsd/tests/unit_tests/ricc.tst b/modules/cacsd/tests/unit_tests/ricc.tst new file mode 100755 index 000000000..95e29834b --- /dev/null +++ b/modules/cacsd/tests/unit_tests/ricc.tst @@ -0,0 +1,18 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2012 - SE - Sylvestre Ledru +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +A = [8,8,9;1,8,6;2,5,9]; +B = [0,6;7,8;4,0]; +C = [8,5,5;9,8,1;5,0,7]; + +C=C*C'; +R=[2,9; 5,7]; + +R=R*R'+eye(); +B=B*inv(R)*B'; +X=ricc(A,B,C,'cont'); +X_ref=[44.84688,2.304207,66.647924;2.304207,27.392655,10.625534;66.647924,10.625534,118.86653]; +assert_checkalmostequal(X, X_ref, 1e-6); diff --git a/modules/cacsd/tests/unit_tests/riccati.dia.ref b/modules/cacsd/tests/unit_tests/riccati.dia.ref new file mode 100755 index 000000000..3cabbea26 --- /dev/null +++ b/modules/cacsd/tests/unit_tests/riccati.dia.ref @@ -0,0 +1,31 @@ +// ============================================================================ +// Tests for riccati() function +// Added : 25/06/2007 +// Thanks to Sabine GAUZERE +// ============================================================================ +n = 10; +A = rand(n,n); +B = rand(n,n); +C = rand(n,n); +C = C*C'; +R = rand(n,n); +R = R*R'+eye(); +B = B*inv(R)*B'; +// Test de l'équation en temps continu +X = riccati(A,B,C,'c','eigen'); +// Vérification +C_cont = A'*X+X*A-X*B*X; +// Test de l'équation en temps discret +F = A; +B = rand(n,n); +G1 = B; +G2 = R; +G = G1/G2*G1'; +H = C; +[X1,X2]= riccati(F,G,H,'d','schur'); +// Vérification +X = X1/X2; +C_disc = F'*X*F-(F'*X*G1/(G2+G1'*X*G1))*(G1'*X*F)-X; +// Comparaison des différents résultats obtenus +if norm(C_cont+C,1) > (10000*%eps) then bugmes();quit;end +if norm(C_disc+H,1) > (10000*%eps) then bugmes();quit;end diff --git a/modules/cacsd/tests/unit_tests/riccati.tst b/modules/cacsd/tests/unit_tests/riccati.tst new file mode 100755 index 000000000..02aca429e --- /dev/null +++ b/modules/cacsd/tests/unit_tests/riccati.tst @@ -0,0 +1,44 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2007-2008 - INRIA +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +// ============================================================================ +// Tests for riccati() function +// Added : 25/06/2007 +// Thanks to Sabine GAUZERE +// ============================================================================ + +n = 10; +A = rand(n,n); +B = rand(n,n); +C = rand(n,n); +C = C*C'; +R = rand(n,n); +R = R*R'+eye(); +B = B*inv(R)*B'; + +// Test de l'équation en temps continu +X = riccati(A,B,C,'c','eigen'); + +// Vérification +C_cont = A'*X+X*A-X*B*X; + +// Test de l'équation en temps discret +F = A; +B = rand(n,n); +G1 = B; +G2 = R; +G = G1/G2*G1'; +H = C; +[X1,X2]= riccati(F,G,H,'d','schur'); + +// Vérification +X = X1/X2; +C_disc = F'*X*F-(F'*X*G1/(G2+G1'*X*G1))*(G1'*X*F)-X; + +// Comparaison des différents résultats obtenus +if norm(C_cont+C,1) > (10000*%eps) then pause,end +if norm(C_disc+H,1) > (10000*%eps) then pause,end diff --git a/modules/cacsd/tests/unit_tests/routh_t.dia.ref b/modules/cacsd/tests/unit_tests/routh_t.dia.ref new file mode 100755 index 000000000..c629767ba --- /dev/null +++ b/modules/cacsd/tests/unit_tests/routh_t.dia.ref @@ -0,0 +1,45 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2013 - Scilab Enterprises - Charlotte HECQUET +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// <-- CLI SHELL MODE --> +// unit tests for routh_t() function +// ============================================================================= +s=poly(0,'s'); +k=poly(0,'k'); +//Test with a polynomial +P1=s*(s+7)*(s+11); +assert_checkequal(routh_t(P1), [1 77; 18 0; 77 0; 0 0]); +[r, num] = routh_t(P1); +assert_checkequal(r, [1 77; 18 0; 77 0; 0 0]); +assert_checkequal(num, 0); +//Test with a transfert function +h=1/P1; +ref1=[1 77; 18 k;(1386-k)/18 0; k 0]; +numref1=numer(ref1); +numref1(3)=1386 - k; +denref1=denom(ref1); +denref1(3)=18; +assert_checkequal(numer(routh_t(h,k))/horner(denom(routh_t(h,k)),1),numref1/denref1); +assert_checkequal(numer(routh_t(h,k,%t))/horner(denom(routh_t(h,k,%t)),1),numref1/denref1); +assert_checkequal(routh_t(h,k,%f),[1 77; 18 k; 1386-k 0; 1386*k-k*k 0]); +// One of the coefficients in the polynomial equals zero +P2=2*s^2-24; +assert_checkequal(routh_t(P2), [2 -24; 4 0; -24 0]); +[r, num] = routh_t(P2); +assert_checkequal(r, [2 -24; 4 0; -24 0]); +assert_checkequal(num, 1); +// A row full of zeros +P3=s^4-6*s^3+10*s^2-6*s+9; +assert_checkequal(routh_t(P3),[1 10 9; -6 -6 0; 9 9 0; 18 0 0; 9 0 0]); +[r, num] = routh_t(P3); +assert_checkequal(r,[1 10 9; -6 -6 0; 9 9 0; 18 0 0; 9 0 0]); +assert_checkequal(num, 2); +//Error messages +assert_checkfalse(execstr("routh_t(P,%t)","errcatch")==0); +assert_checkfalse(execstr("routh_t(P,k)","errcatch")==0); +assert_checkfalse(execstr("routh_t()","errcatch")==0); +assert_checkfalse(execstr("routh_t(h)","errcatch")==0); +assert_checkfalse(execstr("routh_t(h,k,%t,%t)","errcatch")==0); diff --git a/modules/cacsd/tests/unit_tests/routh_t.tst b/modules/cacsd/tests/unit_tests/routh_t.tst new file mode 100755 index 000000000..427d08bcb --- /dev/null +++ b/modules/cacsd/tests/unit_tests/routh_t.tst @@ -0,0 +1,53 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2013 - Scilab Enterprises - Charlotte HECQUET +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +// <-- CLI SHELL MODE --> + +// unit tests for routh_t() function +// ============================================================================= + +s=poly(0,'s'); +k=poly(0,'k'); + +//Test with a polynomial +P1=s*(s+7)*(s+11); +assert_checkequal(routh_t(P1), [1 77; 18 0; 77 0; 0 0]); +[r, num] = routh_t(P1); +assert_checkequal(r, [1 77; 18 0; 77 0; 0 0]); +assert_checkequal(num, 0); + +//Test with a transfert function +h=1/P1; +ref1=[1 77; 18 k;(1386-k)/18 0; k 0]; +numref1=numer(ref1); +numref1(3)=1386 - k; +denref1=denom(ref1); +denref1(3)=18; +assert_checkequal(numer(routh_t(h,k))/horner(denom(routh_t(h,k)),1),numref1/denref1); +assert_checkequal(numer(routh_t(h,k,%t))/horner(denom(routh_t(h,k,%t)),1),numref1/denref1); +assert_checkequal(routh_t(h,k,%f),[1 77; 18 k; 1386-k 0; 1386*k-k*k 0]); + +// One of the coefficients in the polynomial equals zero +P2=2*s^2-24; +assert_checkequal(routh_t(P2), [2 -24; 4 0; -24 0]); +[r, num] = routh_t(P2); +assert_checkequal(r, [2 -24; 4 0; -24 0]); +assert_checkequal(num, 1); + +// A row full of zeros +P3=s^4-6*s^3+10*s^2-6*s+9; +assert_checkequal(routh_t(P3),[1 10 9; -6 -6 0; 9 9 0; 18 0 0; 9 0 0]); +[r, num] = routh_t(P3); +assert_checkequal(r,[1 10 9; -6 -6 0; 9 9 0; 18 0 0; 9 0 0]); +assert_checkequal(num, 2); + +//Error messages +assert_checkfalse(execstr("routh_t(P,%t)","errcatch")==0); +assert_checkfalse(execstr("routh_t(P,k)","errcatch")==0); +assert_checkfalse(execstr("routh_t()","errcatch")==0); +assert_checkfalse(execstr("routh_t(h)","errcatch")==0); +assert_checkfalse(execstr("routh_t(h,k,%t,%t)","errcatch")==0); diff --git a/modules/cacsd/tests/unit_tests/ss2tf.dia.ref b/modules/cacsd/tests/unit_tests/ss2tf.dia.ref new file mode 100755 index 000000000..39e2edf5f --- /dev/null +++ b/modules/cacsd/tests/unit_tests/ss2tf.dia.ref @@ -0,0 +1,84 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) ????-2008 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +a=0.5;b=1;c=2; +sl=syslin('c',a,b,c); +h1=ss2tf(sl); +if h1.num<>2 then bugmes();quit;end +if h1.den<>poly([-0.5 1],'s','c') then bugmes();quit;end +d=1; +sl=syslin('c',a,b,c,d); +h2=ss2tf(sl); +if h2<>h1+1 then bugmes();quit;end +b=[b b]; +sl=syslin('c',a,b,c); +h2=ss2tf(sl); +if or(h2<>[h1 h1]) then bugmes();quit;end +a=[0.9,0,0.6,-1.4,-4.2; + 0.2,0.1,-0.2,0.5,0.6; + -4.3,0,2.2,0,2.4; + -3.7,-0.5,2.4,-0.6,2.7; + 6.4,0.1,-4,-0.5,-4]; +b=[-0.1,-0.1,0; + 0,0,0.1; + -0.1,0.2,-0.1; + 0.2,0.2,-0.6; + 0.2,-0.1,0.1]; +c=[2,7,-2,5,1 + 0,-1,3,0,2]; +d=[1,0,0 + 0,0,0]; +sl=syslin('c',a,b,c,d); +h=ss2tf(sl) + h = + + + column 1 + + 2 3 4 5 + 1.3986 + 41.9012s + 64.737s + 26.3s + 2.6s + s + ---------------------------------------------- + 2 3 4 5 + - 0.6296 + 15.4568s + 35.104s + 25.39s + 1.4s + s + + 2 3 4 + 0.38308 - 8.1212s + 2.283s - 0.29s + 0.1s + ----------------------------------------------- + 2 3 4 5 + - 0.6296 + 15.4568s + 35.104s + 25.39s + 1.4s + s + + column 2 + + 2 3 4 + 3.9545 + 14.2365s + 8.024s + 0.52s + 0.3s + ----------------------------------------------- + 2 3 4 5 + - 0.6296 + 15.4568s + 35.104s + 25.39s + 1.4s + s + + 2 3 4 + - 0.09758 + 5.4601s + 9.735s + 0.19s + 0.4s + ----------------------------------------------- + 2 3 4 5 + - 0.6296 + 15.4568s + 35.104s + 25.39s + 1.4s + s + + column 3 + + 2 3 4 + 0.7293 - 40.8154s - 49.552s - 1.58s - 2s + ---------------------------------------------- + 2 3 4 5 + - 0.6296 + 15.4568s + 35.104s + 25.39s + 1.4s + s + + 2 3 4 + - 0.58334 + 15.1342s - 4.929s + 0.61s - 0.2s + ---------------------------------------------- + 2 3 4 5 + - 0.6296 + 15.4568s + 35.104s + 25.39s + 1.4s + s +if or(degree(h.den)<>5) then bugmes();quit;end +if or(degree(h.num)<>[5,4,4;4,4,4]) then bugmes();quit;end +r1=spec(a);R1=gsort([real(r1) imag(r1)],'lr','i'); +r2=roots(h.den(1,1));R2=gsort([real(r2) imag(r2)],'lr','i'); +if norm(R2-R1,'inf')>1d-14 then bugmes();quit;end diff --git a/modules/cacsd/tests/unit_tests/ss2tf.tst b/modules/cacsd/tests/unit_tests/ss2tf.tst new file mode 100755 index 000000000..3747fe8f6 --- /dev/null +++ b/modules/cacsd/tests/unit_tests/ss2tf.tst @@ -0,0 +1,50 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) ????-2008 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +a=0.5;b=1;c=2; +sl=syslin('c',a,b,c); +h1=ss2tf(sl); +if h1.num<>2 then pause,end +if h1.den<>poly([-0.5 1],'s','c') then pause,end +d=1; +sl=syslin('c',a,b,c,d); +h2=ss2tf(sl); +if h2<>h1+1 then pause,end + +b=[b b]; +sl=syslin('c',a,b,c); +h2=ss2tf(sl); +if or(h2<>[h1 h1]) then pause,end + + +a=[0.9,0,0.6,-1.4,-4.2; + 0.2,0.1,-0.2,0.5,0.6; + -4.3,0,2.2,0,2.4; + -3.7,-0.5,2.4,-0.6,2.7; + 6.4,0.1,-4,-0.5,-4]; + +b=[-0.1,-0.1,0; + 0,0,0.1; + -0.1,0.2,-0.1; + 0.2,0.2,-0.6; + 0.2,-0.1,0.1]; + +c=[2,7,-2,5,1 + 0,-1,3,0,2]; +d=[1,0,0 + 0,0,0]; + +sl=syslin('c',a,b,c,d); + +h=ss2tf(sl) +if or(degree(h.den)<>5) then pause,end +if or(degree(h.num)<>[5,4,4;4,4,4]) then pause,end + +r1=spec(a);R1=gsort([real(r1) imag(r1)],'lr','i'); +r2=roots(h.den(1,1));R2=gsort([real(r2) imag(r2)],'lr','i'); +if norm(R2-R1,'inf')>1d-14 then pause,end + + diff --git a/modules/cacsd/tests/unit_tests/sylv.dia.ref b/modules/cacsd/tests/unit_tests/sylv.dia.ref new file mode 100755 index 000000000..dc28ac3a6 --- /dev/null +++ b/modules/cacsd/tests/unit_tests/sylv.dia.ref @@ -0,0 +1,19 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2013 - Scilab Enterprises - Paul Bignier +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +// <-- ENGLISH IMPOSED --> +// Run with test_run('cacsd', 'sylv', ['no_check_error_output']); +A = rand(4, 4); C = rand(4, 3); B = rand(3, 3); +// Solve continuous-time Sylvester equation: A*X+X*B = C +X = sylv(A, B, C, "c"); +expected_norm = 1.D-16; +if norm(A*X+X*B-C)-expected_norm > 1.D-15 then bugmes();quit;end +// Solve modified discrete-time Sylvester equation: A*X*B+X = C +X = sylv(A, B, C, "d"); +if norm(A*X*B+X-C)-expected_norm > 1.D-15 then bugmes();quit;end +// Solve real discrete-time Sylvester equation: A*X*B+X = C +X = -sylv(-A, B, C, "d"); +if norm(A*X*B-X-C)-expected_norm > 1.D-15 then bugmes();quit;end diff --git a/modules/cacsd/tests/unit_tests/sylv.tst b/modules/cacsd/tests/unit_tests/sylv.tst new file mode 100755 index 000000000..c89fcd072 --- /dev/null +++ b/modules/cacsd/tests/unit_tests/sylv.tst @@ -0,0 +1,29 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) 2013 - Scilab Enterprises - Paul Bignier +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + +// <-- ENGLISH IMPOSED --> + +// Run with test_run('cacsd', 'sylv', ['no_check_error_output']); + +A = rand(4, 4); C = rand(4, 3); B = rand(3, 3); + +// Solve continuous-time Sylvester equation: A*X+X*B = C +X = sylv(A, B, C, "c"); + +expected_norm = 1.D-16; + +if norm(A*X+X*B-C)-expected_norm > 1.D-15 then pause,end + +// Solve modified discrete-time Sylvester equation: A*X*B+X = C +X = sylv(A, B, C, "d"); + +if norm(A*X*B+X-C)-expected_norm > 1.D-15 then pause,end + +// Solve real discrete-time Sylvester equation: A*X*B+X = C +X = -sylv(-A, B, C, "d"); + +if norm(A*X*B-X-C)-expected_norm > 1.D-15 then pause,end diff --git a/modules/cacsd/tests/unit_tests/syslin.dia.ref b/modules/cacsd/tests/unit_tests/syslin.dia.ref new file mode 100755 index 000000000..395480079 --- /dev/null +++ b/modules/cacsd/tests/unit_tests/syslin.dia.ref @@ -0,0 +1,73 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) ????-2008 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +//state space +a=[1 2;0 4];b=[1;1];c=[1 2]; +sl=syslin('c',a,b,c); +if or(sl.A<>a)|or(sl.B<>b)|or(sl.C<>c)|or(sl.D<>0)|or(sl.dt<>'c') then bugmes();quit;end +sl=syslin('d',a,b,c); +if or(sl.A<>a)|or(sl.B<>b)|or(sl.C<>c)|or(sl.D<>0)|or(sl.dt<>'d') then bugmes();quit;end +sl=syslin(0.1,a,b,c); +if or(sl.A<>a)|or(sl.B<>b)|or(sl.C<>c)|or(sl.D<>0)|or(sl.dt<>0.1) then bugmes();quit;end +sl=syslin('c',a,b,c,1); +if or(sl.A<>a)|or(sl.B<>b)|or(sl.C<>c)|or(sl.D<>1)|or(sl.dt<>'c') then bugmes();quit;end +sl=syslin('d',a,b,c,1); +if or(sl.A<>a)|or(sl.B<>b)|or(sl.C<>c)|or(sl.D<>1)|or(sl.dt<>'d') then bugmes();quit;end +sl=syslin(0.1,a,b,c,1); +if or(sl.A<>a)|or(sl.B<>b)|or(sl.C<>c)|or(sl.D<>1)|or(sl.dt<>0.1) then bugmes();quit;end +sl=syslin('c',a,b,c,1+%s); +if or(sl.A<>a)|or(sl.B<>b)|or(sl.C<>c)|or(sl.D<>1+%s)|or(sl.dt<>'c') then bugmes();quit;end +sl=syslin('d',a,b,c,1+%s); +if or(sl.A<>a)|or(sl.B<>b)|or(sl.C<>c)|or(sl.D<>1+%s)|or(sl.dt<>'d') then bugmes();quit;end +sl=syslin(0.1,a,b,c,1+%s); +if or(sl.A<>a)|or(sl.B<>b)|or(sl.C<>c)|or(sl.D<>1+%s)|or(sl.dt<>0.1) then bugmes();quit;end +b=eye(2,2);d=zeros(1,2); +sl=syslin('c',a,b,c,d); +if or(sl.A<>a)|or(sl.B<>b)|or(sl.C<>c)|or(sl.D<>d)|or(sl.dt<>'c') then bugmes();quit;end +sl=syslin('d',a,b,c,d); +if or(sl.A<>a)|or(sl.B<>b)|or(sl.C<>c)|or(sl.D<>d)|or(sl.dt<>'d') then bugmes();quit;end +sl=syslin(0.1,a,b,c,d); +if or(sl.A<>a)|or(sl.B<>b)|or(sl.C<>c)|or(sl.D<>d)|or(sl.dt<>0.1) then bugmes();quit;end +c=[];d=[] + d = + + [] +sl=syslin('c',a,b,c,d); +if or(sl.A<>a)|or(sl.B<>b)|or(sl.C<>c)|or(sl.D<>d)|or(sl.dt<>'c') then bugmes();quit;end +sl=syslin('d',a,b,c,d); +if or(sl.A<>a)|or(sl.B<>b)|or(sl.C<>c)|or(sl.D<>d)|or(sl.dt<>'d') then bugmes();quit;end +sl=syslin(0.1,a,b,c,d); +if or(sl.A<>a)|or(sl.B<>b)|or(sl.C<>c)|or(sl.D<>d)|or(sl.dt<>0.1) then bugmes();quit;end +c=[1 2];d=[];b=[]; +sl=syslin('c',a,b,c,d); +if or(sl.A<>a)|or(sl.B<>b)|or(sl.C<>c)|or(sl.D<>d)|or(sl.dt<>'c') then bugmes();quit;end +sl=syslin('d',a,b,c,d); +if or(sl.A<>a)|or(sl.B<>b)|or(sl.C<>c)|or(sl.D<>d)|or(sl.dt<>'d') then bugmes();quit;end +sl=syslin(0.1,a,b,c,d); +if or(sl.A<>a)|or(sl.B<>b)|or(sl.C<>c)|or(sl.D<>d)|or(sl.dt<>0.1) then bugmes();quit;end +a=[];b=[];c=[];d=1; +sl=syslin('c',a,b,c,d); +if or(sl.A<>a)|or(sl.B<>b)|or(sl.C<>c)|or(sl.D<>d)|or(sl.dt<>'c') then bugmes();quit;end +sl=syslin('d',a,b,c,d); +if or(sl.A<>a)|or(sl.B<>b)|or(sl.C<>c)|or(sl.D<>d)|or(sl.dt<>'d') then bugmes();quit;end +sl=syslin(0.1,a,b,c,d); +if or(sl.A<>a)|or(sl.B<>b)|or(sl.C<>c)|or(sl.D<>d)|or(sl.dt<>0.1) then bugmes();quit;end +//transfer functions +num=1+%s;den=1-%s+3*%s^2;simp_mode(%f); +sl=syslin('c',num,den); +if or(sl.num<>num)|or(sl.den<>den)|or(sl.dt<>'c') then bugmes();quit;end +sl=syslin('c',num./den); +if or(sl.num<>num)|or(sl.den<>den)|or(sl.dt<>'c') then bugmes();quit;end +num=1+%z;den=1-%z+3*%z^2;simp_mode(%f); +sl=syslin('d',num,den); +if or(sl.num<>num)|or(sl.den<>den)|or(sl.dt<>'d') then bugmes();quit;end +sl=syslin('d',num./den); +num=[1+%s %s^2];den=(1-%s+3*%s^2)*ones(num);simp_mode(%f); +sl=syslin('c',num,den); +if or(sl.num<>num)|or(sl.den<>den)|or(sl.dt<>'c') then bugmes();quit;end +num=[1+%z 2];den=(1-%z+3*%z^2)*ones(num);simp_mode(%f); +sl=syslin('c',num./den); +if or(sl.num<>num)|or(sl.den<>den)|or(sl.dt<>'c') then bugmes();quit;end diff --git a/modules/cacsd/tests/unit_tests/syslin.tst b/modules/cacsd/tests/unit_tests/syslin.tst new file mode 100755 index 000000000..6f05926ca --- /dev/null +++ b/modules/cacsd/tests/unit_tests/syslin.tst @@ -0,0 +1,83 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) ????-2008 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +//state space +a=[1 2;0 4];b=[1;1];c=[1 2]; +sl=syslin('c',a,b,c); +if or(sl.A<>a)|or(sl.B<>b)|or(sl.C<>c)|or(sl.D<>0)|or(sl.dt<>'c') then pause,end +sl=syslin('d',a,b,c); +if or(sl.A<>a)|or(sl.B<>b)|or(sl.C<>c)|or(sl.D<>0)|or(sl.dt<>'d') then pause,end +sl=syslin(0.1,a,b,c); +if or(sl.A<>a)|or(sl.B<>b)|or(sl.C<>c)|or(sl.D<>0)|or(sl.dt<>0.1) then pause,end + +sl=syslin('c',a,b,c,1); +if or(sl.A<>a)|or(sl.B<>b)|or(sl.C<>c)|or(sl.D<>1)|or(sl.dt<>'c') then pause,end +sl=syslin('d',a,b,c,1); +if or(sl.A<>a)|or(sl.B<>b)|or(sl.C<>c)|or(sl.D<>1)|or(sl.dt<>'d') then pause,end +sl=syslin(0.1,a,b,c,1); +if or(sl.A<>a)|or(sl.B<>b)|or(sl.C<>c)|or(sl.D<>1)|or(sl.dt<>0.1) then pause,end + +sl=syslin('c',a,b,c,1+%s); +if or(sl.A<>a)|or(sl.B<>b)|or(sl.C<>c)|or(sl.D<>1+%s)|or(sl.dt<>'c') then pause,end +sl=syslin('d',a,b,c,1+%s); +if or(sl.A<>a)|or(sl.B<>b)|or(sl.C<>c)|or(sl.D<>1+%s)|or(sl.dt<>'d') then pause,end +sl=syslin(0.1,a,b,c,1+%s); +if or(sl.A<>a)|or(sl.B<>b)|or(sl.C<>c)|or(sl.D<>1+%s)|or(sl.dt<>0.1) then pause,end + +b=eye(2,2);d=zeros(1,2); + +sl=syslin('c',a,b,c,d); +if or(sl.A<>a)|or(sl.B<>b)|or(sl.C<>c)|or(sl.D<>d)|or(sl.dt<>'c') then pause,end +sl=syslin('d',a,b,c,d); +if or(sl.A<>a)|or(sl.B<>b)|or(sl.C<>c)|or(sl.D<>d)|or(sl.dt<>'d') then pause,end +sl=syslin(0.1,a,b,c,d); +if or(sl.A<>a)|or(sl.B<>b)|or(sl.C<>c)|or(sl.D<>d)|or(sl.dt<>0.1) then pause,end + +c=[];d=[] +sl=syslin('c',a,b,c,d); +if or(sl.A<>a)|or(sl.B<>b)|or(sl.C<>c)|or(sl.D<>d)|or(sl.dt<>'c') then pause,end +sl=syslin('d',a,b,c,d); +if or(sl.A<>a)|or(sl.B<>b)|or(sl.C<>c)|or(sl.D<>d)|or(sl.dt<>'d') then pause,end +sl=syslin(0.1,a,b,c,d); +if or(sl.A<>a)|or(sl.B<>b)|or(sl.C<>c)|or(sl.D<>d)|or(sl.dt<>0.1) then pause,end + +c=[1 2];d=[];b=[]; +sl=syslin('c',a,b,c,d); +if or(sl.A<>a)|or(sl.B<>b)|or(sl.C<>c)|or(sl.D<>d)|or(sl.dt<>'c') then pause,end +sl=syslin('d',a,b,c,d); +if or(sl.A<>a)|or(sl.B<>b)|or(sl.C<>c)|or(sl.D<>d)|or(sl.dt<>'d') then pause,end +sl=syslin(0.1,a,b,c,d); +if or(sl.A<>a)|or(sl.B<>b)|or(sl.C<>c)|or(sl.D<>d)|or(sl.dt<>0.1) then pause,end + +a=[];b=[];c=[];d=1; +sl=syslin('c',a,b,c,d); +if or(sl.A<>a)|or(sl.B<>b)|or(sl.C<>c)|or(sl.D<>d)|or(sl.dt<>'c') then pause,end +sl=syslin('d',a,b,c,d); +if or(sl.A<>a)|or(sl.B<>b)|or(sl.C<>c)|or(sl.D<>d)|or(sl.dt<>'d') then pause,end +sl=syslin(0.1,a,b,c,d); +if or(sl.A<>a)|or(sl.B<>b)|or(sl.C<>c)|or(sl.D<>d)|or(sl.dt<>0.1) then pause,end + + +//transfer functions +num=1+%s;den=1-%s+3*%s^2;simp_mode(%f); +sl=syslin('c',num,den); +if or(sl.num<>num)|or(sl.den<>den)|or(sl.dt<>'c') then pause,end + +sl=syslin('c',num./den); +if or(sl.num<>num)|or(sl.den<>den)|or(sl.dt<>'c') then pause,end + +num=1+%z;den=1-%z+3*%z^2;simp_mode(%f); +sl=syslin('d',num,den); +if or(sl.num<>num)|or(sl.den<>den)|or(sl.dt<>'d') then pause,end +sl=syslin('d',num./den); + +num=[1+%s %s^2];den=(1-%s+3*%s^2)*ones(num);simp_mode(%f); +sl=syslin('c',num,den); +if or(sl.num<>num)|or(sl.den<>den)|or(sl.dt<>'c') then pause,end + +num=[1+%z 2];den=(1-%z+3*%z^2)*ones(num);simp_mode(%f); +sl=syslin('c',num./den); +if or(sl.num<>num)|or(sl.den<>den)|or(sl.dt<>'c') then pause,end diff --git a/modules/cacsd/tests/unit_tests/tf2ss.dia.ref b/modules/cacsd/tests/unit_tests/tf2ss.dia.ref new file mode 100755 index 000000000..4ab1f02e1 --- /dev/null +++ b/modules/cacsd/tests/unit_tests/tf2ss.dia.ref @@ -0,0 +1,47 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) ????-2008 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= +s=%s; +n=1;d=1+3*s; +h=syslin('c',n./d); +sl=tf2ss(h); +if sl.A<>-1/3 then bugmes();quit;end +if sl.B*sl.C<>1/3 then bugmes();quit;end +if sl.D<>0 then bugmes();quit;end +if sl.X0<>0 then bugmes();quit;end +if sl.dt<>'c' then bugmes();quit;end +h=syslin('d',n./d); +sl=tf2ss(h); +if sl.A<>-1/3 then bugmes();quit;end +if sl.B*sl.C<>1/3 then bugmes();quit;end +if sl.D<>0 then bugmes();quit;end +if sl.X0<>0 then bugmes();quit;end +if sl.dt<>'d' then bugmes();quit;end +h1=[h h]; +sl1=tf2ss(h1); +if abs(sl1.A+1/3)>1d-15 then bugmes();quit;end +if norm(sl1.B*sl1.C-1/3,1)>1d-15 then bugmes();quit;end +if or(sl1.D<>[0 0]) then bugmes();quit;end +if sl1.X0<>0 then bugmes();quit;end +if sl1.dt<>'d' then bugmes();quit;end +n=[1+s 2+3*s+4*s^2 5; 0 1-s s]; +d=[1+3*s 5-s^3 s+1;1+s 1+s+s^2 3*s-1]; +h=syslin('c',n./d); +sl=tf2ss(h); +cden=lcm(d);cden=cden/coeff(cden,degree(cden)) + cden = + + 2 3 4 + 0.5555556 + 1.1111111s - 3.8888889s - 9.5555556s - 10.222222s + 5 6 7 8 + - 4.2222222s + 1.8888889s + 2s + s +if norm(coeff(cden-poly(sl.A,'s')),1)>1d-10 then bugmes();quit;end +e=h-ss2tf(sl); +if norm(coeff(e.num))>>1d-10 then bugmes();quit;end +n=(1+s);d=(1+3*s)*(0.9999+s); +h=syslin('c',n./d); +sl=tf2ss(h,0.01); +if size(sl.A,'*')<>1 then bugmes();quit;end diff --git a/modules/cacsd/tests/unit_tests/tf2ss.tst b/modules/cacsd/tests/unit_tests/tf2ss.tst new file mode 100755 index 000000000..5218876a7 --- /dev/null +++ b/modules/cacsd/tests/unit_tests/tf2ss.tst @@ -0,0 +1,53 @@ +// ============================================================================= +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) ????-2008 - INRIA - Serge Steer +// +// This file is distributed under the same license as the Scilab package. +// ============================================================================= + + + +s=%s; +n=1;d=1+3*s; +h=syslin('c',n./d); +sl=tf2ss(h); +if sl.A<>-1/3 then pause,end +if sl.B*sl.C<>1/3 then pause,end +if sl.D<>0 then pause,end +if sl.X0<>0 then pause,end +if sl.dt<>'c' then pause,end + +h=syslin('d',n./d); +sl=tf2ss(h); +if sl.A<>-1/3 then pause,end +if sl.B*sl.C<>1/3 then pause,end +if sl.D<>0 then pause,end +if sl.X0<>0 then pause,end +if sl.dt<>'d' then pause,end + +h1=[h h]; +sl1=tf2ss(h1); +if abs(sl1.A+1/3)>1d-15 then pause,end +if norm(sl1.B*sl1.C-1/3,1)>1d-15 then pause,end +if or(sl1.D<>[0 0]) then pause,end +if sl1.X0<>0 then pause,end +if sl1.dt<>'d' then pause,end + + +n=[1+s 2+3*s+4*s^2 5; 0 1-s s]; +d=[1+3*s 5-s^3 s+1;1+s 1+s+s^2 3*s-1]; + +h=syslin('c',n./d); +sl=tf2ss(h); +cden=lcm(d);cden=cden/coeff(cden,degree(cden)) +if norm(coeff(cden-poly(sl.A,'s')),1)>1d-10 then pause,end + + + +e=h-ss2tf(sl); +if norm(coeff(e.num))>>1d-10 then pause,end + +n=(1+s);d=(1+3*s)*(0.9999+s); +h=syslin('c',n./d); +sl=tf2ss(h,0.01); +if size(sl.A,'*')<>1 then pause,end |